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

1.  If the state of this signal is turned from ON (shorted) to OFF (open), the robot will immediately stop in the middle of the ongoing step, and the Robot-in-operation signal will be turned OFF. However, auto mode or external mode will remain valid, and the suspended programs will be resumed by inputting Program start signal.
2. For resuming the program after an instantaneous stop, see "Program Operation Command (0001)".
3. The minimum required pulse width is 50 milliseconds (msec.) or more.

Timing Chart