Mitsubishi MELFA CR1D User Manual

4MELFA-BASIC V
MELFA-BASIC V functions 4-110
(6) Stopping
The program execution can be stopped. The moving robot will decelerate to a stop.
*Command word
*Statement example
*Related functions
Command word
Explanation
Hlt This instruction stops the robot and pauses the execution of the program. When the program is
started, it is executed from the next step.
End This instruction defines the end of one cycle of a program. In continuous operation, the program
is executed again from the start step upon the execution of the End instruction. In cycle
operation, the program ends upon the execution of the End instruction when the cycle is
stopped.
Statement example
Explanation
Hlt .....................................................................................
Interrupt execution of the program.
If M_In(20)=1 Then Hlt......................................................
Pauses the program if input signal bit 20 is turned on.
Mov P1 WthIf M_In(18)=1, Hlt ..........................................
Pauses the program if input signal bit 18 is turned on while moving toward P1.
End ...................................................................................
Terminates the program even in the middle of the execution.
Function Explanation page
Appended statement.......................................................................... Page 255, " Wth (With)"

Mitsubishi MELFA CR1D Specifications

General

Brand	Mitsubishi
Model	MELFA CR1D
Category	Controller
Language	English