SetPStop2Cfg#

This command is used to set the behavior of the robot when the SWStop signal in the Meca500 R4 is activated.

Syntax#

SetPStop2Cfg(l)

Arguments#

  • l: severity

    • 2, for PauseMotion. Robot motion is paused but commands in the motion queue remain queued. New commands can be queued.

    • 3, for ClearMotion. Robot motion is paused and all commands in the motion queue are cleared. The robot will refuse to add any new commands in the motion queue until the P-Stop 2 condition is reset using ResumeMotion.

Default values#

This setting is persistent and retained after a power cycle (a reboot).

The factory default is 3 (ClearMotion).

Responses#

  • [2178][PStop2 configuration set successfully]

Usage restrictions#

This command can only be executed when the robot is deactivated.

Cyclic protocols#

This command is not available in cyclic protocols.