PauseMotion#

This command stops the robot’s movement. It is executed immediately upon receipt (within 5 ms of being sent, depending on your network configuration). The robot decelerates to a stop rather than engaging the brakes. For instance, if a MoveLin command is in progress when the PauseMotion command is received, the robot’s TCP will stop somewhere along the linear path. To determine the exact stop position, you can use the GetRtCartPos or GetRtJointPos commands.

The PauseMotion command pauses the robot’s motion without deleting the remaining trajectory, allowing it to be resumed with the ResumeMotion command. This feature is particularly useful for custom HMIs that require a pause button or for situations where an unexpected issue arises (e.g., if the robot is applying adhesive and the reservoir runs empty).

Syntax#

PauseMotion()

Responses#

  • [2042][Motion paused.]

  • [3004][End of movement.]

The first response (2042) is always sent, whereas the second (3004) is sent only if the robot was moving when the command was received.

Additional details#

If a motion error occurs while the robot is paused (e.g., if another moving object collides with the robot), the motion is cleared, and the trajectory can no longer be resumed.

Usage restrictions#

This command can only be executed when the robot is ready for motion. Otherwise, the robot will report one of the following:

  • [1005][The robot is not activated.]

  • [1006][The robot is not homed.]

Cyclic protocols#

In cyclic protocols, the PauseMotion command is mapped to the PauseMotion bit in the MotionControl data. See Table 5 for more details.