Halt; 42 Halt - Omron SCARA YRCX Series Programming Manual

42

HALT

8
Stops the program and performs a reset
A
B
C
MEMO
D
E
F
G
H
I
J
K
L
M
8-68 Chapter 8 Robot Language Lists
Format
HALT expression
character string
Explanation Stops the program and resets it. If restarted after a HALT, the program runs from its
beginning.
If an <expression> or a <character string> is written, the operation result of
<expression> or the contents of <character string> are displayed on the programming
box screen, respectively
• Variables are not reset by execution of HALT statement. HALTALL is available to reset variables.
• HALT is effective only in the executed task. The programs executed in other tasks continue
execution.
SAMPLE
'MAIN ROUTINE
*ST:
MOVE P,P0,P1
IF DI(20) = 1 THEN
GOTO *FIN
ENDIF
GOTO *ST
*FIN:
HALT "PROGRAM FIN"
In PTP movement specified by movement commands such as MOVE and DRIVE, the next line's
command is executed when the axis enters the OUT position range.
Therefore, if a HALT command exists immediately after a PTP movement command, that HALT
command is executed before the axis arrives in the target position tolerance range.
Likewise, when specifying CONT options in interpolation movement during MOVE (L or C)
command, the next command is executed immediately after movement starts. Therefore, if a HALT
command exists immediately after the interpolation movement command during MOVE (L or C)
command with CONT options, a HALT command is executed immediately after starting movement.
In either of the above cases, use the WAIT ARM command as shown below if desiring to execute
the HALT command after the axis arrives within the target position tolerance range.
HALT command
DRIVE(1,P1)
HALT
HALT execution
DRIVE(1,P1)
Target position
WAIT ARM
HALT
Tolerance
OUT position
HALT execution
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