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).

The value set by this command persists until the robot is rebooted.

Syntax#

SetEom(e)

Arguments#

  • e: end-of-movement message enabled (1) or disabled (0).

Default values#

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

The default settings are applied whenever the robot is power cycled (rebooted).

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.