Stopping Tasks - Omron SCARA YRCX Series Programming Manual

3.7

Stopping tasks

All tasks stop if any of the following cases occurs.
1. HALTALL command is executed. (stop & reset)
All programs are reset and task is put in the NON EXISTENT status. When the main
program is specified, the HALTALL command registers the main program in the task 1 and all
tasks are put in the STOP status at the beginning line. When the main program is not specified,
the HALTALL command registers the program that has been executed last (current program) in
the task 1 and all tasks are put in the STOP status at the beginning line.
2. HOLDALL command is executed. (temporary stop)
All tasks are put in the STOP status. When the program is restarted, the tasks in the STOP status
set to the READY or SUSPEND status.
3. STOP key on the programming box is pressed or the interlock signal is cut off.
Just as in the case where the HOLD command is executed, all tasks are put in the STOP status.
When the program is restarted, the tasks in the STOP status set to the READY status (or, the task
is placed the SUSPEND status after being placed in the READY status).
4. When the emergency stop button on the programming box is pressed
or the emergency stop signal is cut off.
All tasks are put in the STOP status. At this point, the power to the robot is shut off and the
servo sets to the non-hold state.
After the canceling emergency stop, when the program is restarted, the tasks in the STOP status
are set to the READY or SUSPEND status. However, a servo ON is required in order to restart
the robot power supply.
• When the program is restarted without being reset after the tasks have been stopped by a cause
MEMO
other than 1., then each task is processed from the status in which the task stopped. This holds
true when the power to the controller is turned off and then turned on.
Task status and transition
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2
3
4
5
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