Pause/Resume Program

Usage

status = flex_pause_prog(u8 boardID, u8 program);

Purpose

Pauses a running program or resumes execution of a paused program.

Parameters

Parameter Discussion

program is the program number. Valid program numbers are 0x01 through 0xFF (1 through 255).

Using This Function

This function suspends execution of a running program or resumes execution of a paused program.

A program can pause or resume another program and also can pause (but not resume) itself.

Note  Pausing a program does not affect a move already started and in progress. It does not implement a Stop Motion function.

Any run-time (modal) error in a program automatically pauses the program in addition to generating the error message. Refer to the Read Error Message function for information about errors and error handling.

A program also can automatically pause if you execute a Stop Motion function from the host computer on an axis or axes under control of the onboard program. In these cases, the program pauses when it attempts to execute a Start Motion or Blend Motion function on the stopped axes. This automatic pause also applies when the stop is due to a limit, home, software limit, or following error condition.

You can effectively single-step through an onboard program by having the program pause after every function, and then resuming the program from the host computer.

System time does not pause when you pause a program. Pausing merely stops the next function from executing. This means that a delay counter from Load Program Delay keeps counting down even while the onboard program is paused. For example, if you load both a delay of five seconds and a pause of 10 seconds, you have a total of only 10 seconds before execution of the onboard program resumes.