Mitsubishi Electric CR750-Q Instruction Manual page 261

Hlt (Halt)
[Function]
Interrupts the execution of the program which executed this Hlt command.
In use of the multitasking function, the executing status of other programs is not affected.
[Format]
Hlt
[Reference Program]
(1) Stop the robot on some conditions.
10 If M_In(18)=1 Then Hlt
11 Mov P1 WthIf M_In(17)=1, Hlt
(2) Stop the robot without condition during program execution.
15 Hlt
[Explanation]
(1) Interrupts the execution of the program which executed this Hlt command, and will be waiting state.
(2) In use of the multitasking function, only the task slot which executed this command interrupts execution.
(3) To restart, start the O/P or issue the start signal from an external source. The program will be restarted at
the next step after the Hlt statement. Note that if the Hlt statement is an appended statement, the oper-
ation will restart from the same step of the program where it was interrupted.
[Related instructions]
End (End)
CAUTION
' Stop the program execution when the input signal 18 turns on.
' When the input signal 17 turns on during moving to P1, the pro-
gram execution is stopped.
' Stop the program without condition.
When using the tracking function
When this Hlt command is executed during tracking movement, tracking movement
will be stopped (an equivalent for the Trk Off command) and execution of the pro-
gram will be interrupted. In use of the multi-mechanism, tracking movement is
stopped to the robot of the mechanism number got by the GetM command. When
you continue tracking movement by the restart (continuation), please create the
program to execute the Trk On command.
Detailed explanation of command words 4-241
4MELFA-BASIC V