ResumeMotion#

This command resumes the robot’s movement if it was previously paused under one of the following conditions:

  • By the PauseMotion command.

  • Due to a torque overload configured in pause motion mode (see SetTorqueLimitsCfg).

  • By the SWStop (Meca500 R4), which is no longer present.

The robot resumes the remaining trajectory from the position where it came to a stop (after deceleration), unless an error occurred after the PauseMotion or the robot was deactivated and then reactivated.

The ResumeMotion command must also be sent after the ClearMotion command. However, the robot will remain stationary until another motion command is received or retrieved from the motion queue. Additionally, the ResumeMotion command must be sent after the ResetError command.

Syntax#

ResumeMotion()

Responses#

  • [2043][Motion resumed.]

Additional details#

It is not possible to pause the motion along a trajectory, move the end-effector away, and then resume the trajectory from where it left off. Any motion commands sent while the robot is paused will be added to the end of the motion queue.

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 ResumeMotion command is mapped to the ResumeMotion bit in the MotionControl data. See Table 5 for more details.