ClearMotion#

This command stops the robot movement in the same fashion as the PauseMotion command (i.e., by decelerating). The rest of the trajectory is deleted. The command ResumeMotion must be sent to make the robot ready to execute new motion commands.

Syntax#

ClearMotion()

Responses#

  • [2044][The motion was cleared.]

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