Holdall; 46 Holdall - Omron SCARA YRCX Series Programming Manual

46

HOLDALL

8
Temporality stops all programs
A
B
C
D
E
F
G
H
I
J
K
L
M
8-74 Chapter 8 Robot Language Lists
Format
HOLD expression
character string
Explanation Temporality stops all programs. When restarted, the program that has executed
HOLDALL is executed from the next line after the statement, and other programs
are resumed from the line that has interrupted execution. If an <expression> or
<character sting> is written in the statement, the contents of <expression> or
<character string> displays on the programming box screen.
SAMPLE
'MAIN ROUTINE
*ST:
MOVE P,P0,P1
IF DI(20)=1 THEN
HOLD "PROGRAM STOP"
ENDIF
GOTO *ST
HALT
In PTP movement specified by movement commands such as MOVE and DRIVE, the next line's
command is executed when the axis enters the effective OUT position range.
Therefore, if a HOLDALL command exists immediately after a PTP movement command, that
HOLDALL 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
HOLDALL command exists immediately after the interpolation movement command during MOVE (L
or C) command with CONT options, a HOLDALL 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 HOLDALL command after the axis arrives within the target position tolerance range.
HOLDALL command
DRIVE(1,P1)
HOLDALL
HOLDALL execution
DRIVE(1,P1)
Target position
WAIT ARM
HOLDALL
Tolerance
OUT position
HOLDALL execution
33702-R9-00