So I’ve seen several references to using the stopj and stopl commands, but am still confused as to how & where to use them.
The URScript manual says basically nothing, and I’ve seen comments on this forum here & there describing specific use cases, but it’s not clear to me whether they get used as:
standalone commands?
place before (or after?) move commands which have jerky stops?
other?
I’ve seen them used within a couple embedded URCaps when looking at a program’s .script file, but again, the context didn’t help me decipher the reason.
Are there any documents out there with more info? I’ve searched a fair amount but haven’t found anything that was very helpful to me.
The stopj() and stopl() commands are just commands to stop the robot, giving a known de-acceleration value.
Giving that MoveJ and MoveL commands and their Waypoints come already with options such as “Stop at this point”, or time for reaching the next waypoint, there is not that much need to use these.
Yes, they are standalone commands.
Move commands with jerky stops: usually referred to movements that can be interrupted, such as IF/LOOP instructions with ticked “check expression continuously”, meaning the condition can turn to False middway of a movement, so you would place a stopj() or stopl() afterwards to ensure the robot stops smoothly before making the robot move again.
Other: I have seen these commands being used mostly when the programmer makes their own URScript using “servo” instructions rather than MoveJ or MoveL for the movements.
I think you can learn deeper about these expressions in a URScript course.