Software version: 5.6
Robot generation: e-Series
Steps to reproduce:
Run a script program on the controller, that enters force mode and performs servoing in a thread.
thread servo_thread(): while (True): servoj(servo_target, t=servo_time, lookahead_time=servo_lookahead_time, gain=servo_gain) end end
Try to stop the robot using stopj(2).
The robot would stop when using stopj.
The robot does not stop, it hangs on the stopj command. However it stops correctly with the stopl command.
This behavior is not documented in the script manual. It seems that something regarding which stop function to use has changed from 5.5 to 5.6.