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4MELFA-BASIC IV
Hlt (Halt)
[Function]
Interrupts the execution of the program and movement of the robot, and stops. The program which was
being executed at this time becomes standby status.
[Format]
Hlt
[Reference Program]
(1) Stop the robot without condition during program execution.
15 Hlt
(2) Stop the robot on some conditions.
10 If M_In(18)=1 Then Hlt
11 Mov P1 WthIf M_In(17)=1, Hlt
[Explanation]
(1) Interrupts the execution of a program and decelerates the robot to a stop. The system will enter the wait-
ing state.
(2) If the Hlt instruction is used in multitask operation, only the task slot that executed the Hlt instruction is
paused.
(3) To restart, start the O/P or issue the start signal from an external source. The program will be restarted at
the next step after the Hlt statement. Note that if the Hlt statement is an appended statement, the oper-
ation will restart from the same step of the program where it was interrupted.
[Related instructions]
End (End)
4-205 Detailed explanation of command words
' Stop the program without condition.
' Stop the program execution when the input signal 18 turns on.
' When the input signal 17 turns on during moving to P1, the pro-
gram execution is stopped.
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