Universal Robots Forum

Can you perform action right before a manual pause,stop in URCap?

I know it is possible to do a action in java right before you shutdown polyscope/robot through the Activator Stop() method. (Im assuming emergency stop is the same)

However, is it possible to know when the user manual stops or pause a running program in the polyscope? Essentially what I have is a daemon controlling a motor via serial communication, and I’d like to stop the motor if the user ends up manually stopping or pausing.

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What you can do is setup your IO that is controlling (power source) your motor to “Program Stop Low” in the Installation IO Tab.

Unfortunately there is actually no routine to call on program stop so i suggest to second this Feature Request