Mitsubishi MELFA CR1D Instruction Manual page 194

4MELFA-BASIC IV
Table 4-15 shows conceptual diagrams that illustrate the effects of the 3 types of program execution stop
commands when the interrupt conditions are met while the robot is moving according to a movement
instruction.
Table 4-15:Conceptual diagram showing the effects of different stop commands
Stop type 1
(If the argument is
omitted)
S1=S2
Stop type 2(S)
Execution com-
plete stop(L)
S3=S4
[Related instructions]
Act (Act)
4-181 Detailed explanation of command words
External override 100% (maximum speed)
Speed
Interrupt
Speed
Interrupt
Speed
Interrupt
Total travel distance S3
Stop distance S1
Tim e
Time
Speed
Time
External override 50%
Speed
Interrupt
Speed
Interrupt
Decelerate and stop immediately
Interrupt
Total travel distance S4
Stop distance S 2
Tim e
Time
Time