Controller.SoftEStop Property

Reads and writes the Boolean value that triggers a Soft E-Stop condition when True.

Controller.SoftEStop = <boolean_value>
-or-
... Controller.SoftEStop

Prerequisites

None

Parameters

None

Remarks

A Soft E-Stop 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 property can be used to quickly halt all robot motions in a controlled fashion when an error is detected. This function is similar to a Hard E-Stop except that 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. If set, the SoftEStop property is automatically cleared by the system if High Power is disabled and re-enabled.

Examples

Dim bState As Boolean
Controller.SoftEStop = True     ' Triggers a Soft E-Stop condition
bState = Controller.SoftEStop   ' bState will be set True since a
                                ' Soft E-Stop has been asserted