jog_stop¶

Runs at once Any mode Open to every client

Stop jogging: the joint brakes to rest along its path. The jogging joint brakes at the jog's acceleration and jerk, the same planned braking it uses at a limit, so it stops smoothly but not at once: with the start settings in about 0.4 s from 20 % speed and 0.9 s from full speed. The call returns before the joint is at rest. A later jog() starts a new jog.

The robot accepts it from every client, in every mode, also while another client holds control, so a released jog button always stops the joint. Outside JOG mode it changes nothing.

Syntax¶

robot.jog_stop()

Arguments¶

None.

Returns¶

Any

None: the robot sends no value back.

Examples¶

import time
robot.jog(0, 1, 0.05)
time.sleep(0.5)
robot.jog_stop()

Usage restrictions 1 code

This command runs at once; it is not queued. The robot accepts it in any mode and state, from every client.

It answers with one of these codes when it does not carry the command out:

[6025] RTI not running or not answering — rTI did not answer within 1 s: it is not running or not responding. The command may still have taken effect

In Python, a code above raises CommandRejected; its number is the code. The call raises:

CommandRejected: RTI refused it or did not answer within 1 s (Errors:).
RobotTimeout: The robot did not answer within 5 s.
RobotConnectionError: The client is not connected.

If the connection drops while the call waits for the robot's answer, it raises CommandRejected with the code CONNECTION_LOST (DISCONNECTED after disconnect()); while it waits for the robot's status, RobotConnectionError.

Like every immediate command, it also answers BAD_ARGS when a raw client sends a value the robot cannot read at all, and INTERNAL when it fails inside the robot.

Protocol¶

A client that does not use robotclient sends this over the TCP command protocol (port 29000) for the example above:

{"id": "c1", "cmd": "jog_stop", "args": []}