SetEom

The robot can also send the “[3004][End of movement.]” message as soon as the robot stops moving. This can happen after the commands MoveJoints, MoveJointsRel, MovePose, MoveJump, MoveLin, MoveLinRelTrf, MoveLinRelWrf, PauseMotion and ClearMotion commands, as well as after the SetCartAcc and SetJointAcc commands. If blending is enabled (even only partially), then there would be no end-of-movement message between two consecutive Cartesian-space commands (MoveLin, MoveLinRelTrf, MoveLinRelWrf) or two consecutive joint-space commands (MoveJoints, MovePose, MoveJump).

Syntax

SetEom(e)

Arguments

• e: enable (1) or disable (0) the end-of-movement message.

Default values

By default, the end-of-movement message is disabled.

Responses

• [2052][End of movement is enabled.]

• [2053][End of movement is disabled.]

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

This command is not available in cyclic protocols.