Instantaneous Stop (All Tasks) (Input)

Function

Input this signal (Halt) to instantaneously stop the running programs from an external device. All tasks will stop.

Input Conditions and Operation

If the state of this signal is turned from on to off, the robot will immediately stop in the middle of the ongoing step, and the "Robot-in-operation (output)" signal will be turned off. The suspended program will resume by I/O command "Program start" input.

For resuming the program after an instantaneous stop, refer to, "Program Operation(0001)".

The minimum required pulse width is 50 milliseconds (msec.) or more.

Timing Chart

The following shows the status change when a suspended program is resumed by an I/O command.