Universal Robots Forum

Program node: BeforeStop

If the robot program stops a program node “BeforeStop” like: “BeforeStart” with a parameter e.g. “stopReason”:

  • user pressed stop/pause
  • robot went in safety stop
  • error(s)
  • […]

The possibility to place commands in this handler e.g. messages, stop other components, capture current state of components, […]
Surely safety must be guaranteed and most parts can be done via daemon. With a program node it would be more comfortable.

5 Likes