Suspends all running programs except supervisory tasks.

SUSPENDALL

This statement suspends all tasks except supervisory tasks, makes them enter the "Continue Stop" state, and turns off the "Robot-in-operation" output signal.

SUSPEND, KILLALL, ROBOTSTOP, CONTINUERUN

Programs stopped by the SUSPENDALL statement can be restarted from the subsequent steps by the RUN command. They can also be continue-started by the CONTINUERUN command.

The RUN or CONTINUERUN command for restarting a suspended task should be executed after the motion has completely stopped. Otherwise, a "Command speed limit over" error or such errors may occur.

Once the SUSPENDALL statement executes, the controller cannot restart any program for 0.5 second after the execution, just as when any of forced stop commands, e.g. "Robot stop" input signal is entered from the teach pendant or any external equipment.