Mitsubishi Electric CR750-Q Instruction Manual page 328

4MELFA-BASIC V
XStp (X Stop)
[Function]
This instruction pauses the execution of the program in the specified task slot from within a program. If the
robot is being operated by the program in the specified task slot, the robot stops. It is used in multitask oper-
ation.
[Format]
XStp[]<Slot No.>
[Terminology]
<Slot No.>
[Reference Program]
1 XRun 2
:
10 XStp 2
11 Wait M_WAI(2)=1
:
20 XRun 2
[Explanation]
(1) If the program is already stopped, an error will not occur.
(2) XStp can also stop the constant execution attribute program.
(3) If used in a program that is executed constantly, this instruction is enabled by changing the value of the
"ALWENA" parameter from 0 to 7 and then turning the controller's power on again.
[Related instructions]
XClr (X Clear), XLoad (X
[Related parameter]
ALWENA
[Related system variables]
M_Wai (Slot number) (1: Stopping, 0: Not stopping)
4-308 Detailed explanation of command words
Specify a slot number in the range from 1 to 32 as a constant or variable.
' Execute.
' Stop.
' Wait for stop to complete.
' Restart.
Load), XRst (X Reset), XRun (X Run)