This command asserts a Soft E-Stop condition that rapidly decelerates all robots to a stop.
SoftEStop
Prerequisites
None
Parameters
None
Remarks
This command initiates a rapid deceleration of all robots currently in motion and generates an error condition for all GPL programs that are attached to a robot.
This function is similar to a Hard E-Stop except that a Soft E-Stop leaves High Power enabled to the amplifiers and is therefore used for less severe error conditions. Leaving power enabled is beneficial in that it prevents the robot axes from sagging and does not require high power to be manually re-enabled before program execution and robot motions are resumed. This function is also similar to a Rapid Deceleration feature except that a Rapid Deceleration only affects a single robot and no program error is generated.
A Soft E-Stop can also be generated by setting the GPL Controller.SoftEStop property True.
Examples
SoftEStop
See Also