Sets the internal Boolean flag that forces any in-process motion for a robot to be rapidly decelerated to a stop.
Robot.RapidDecel ( robot )
Prerequisites
None
Parameters
robot
An optional numeric expression that specifies the robot to be accessed (1-n). If this value is 0 or unspecified, the Selected robot will be accessed.
Remarks
Setting the RapidDecel flag initiates a rapid deceleration of any motion in progress for the specified robot. At the conclusion of the deceleration, no error is signaled and program execution continues uninterrupted. The motion will, however, have been stopped at a location different from the original plan. If the robot was not in motion, setting this flag is ignored. At the start of the next motion, the RapidDecel flag is automatically reset. The RapidDecel feature can be used to stop motions prematurely due to an external signal, such as tripping a switch, touch sensor, or force sensor. Since these are expected events, program processing is not halted. Since this flag stops any in-process motion, it is similar in effect to the Soft E-Stop, Hard E-Stop, and Disable Power functions. However, those functions are typically used to stop all robots simultaneously when an unexpected event occurs and they generate error conditions.
Examples
Robot.RapidDecel() ' Triggers a rapid decel of Selected robot
See Also
Robot Class | Controller.PowerEnabled | Controller.SoftEstop