private void button2_Click(object sender, EventArgs e)
          {
               try
               {
                    if (controller.OperatingMode == ControllerOperatingMode.Auto)
                    {
                         tasks = controller.Rapid.GetTasks();
                         using (Mastership m = Mastership.Request(controller.Rapid))
                         {
                              //Perform operation

                              tasks[0].Stop(0);
                              controller.Rapid.Stop(ABB.Robotics.Controllers.RapidDomain.StopMode.Immediate);


                         }
                    }
                    else
                    {
                         MessageBox.Show("Automatic mode is required to stop execution from a remote client.");
                    }
               }
               catch (System.InvalidOperationException ex)
               {
                    MessageBox.Show("Mastership is held by another client." + ex.Message);
               }
               catch (System.Exception ex)
               {
                    MessageBox.Show("Unexpected error occurred: " + ex.Message);
               }



          }