MagnaTran 7.1 User’s Manual
Command Reference
MN-003-1600-00
Halt
Brooks Automation
Revision 2.2
8-39
Halt
CAUTION
While no damage to the robot will occur due to a HALT command, the
HALT command may result in abrupt motions, and may cause the
misalignment of a wafer that is on the end effector.
Purpose
Available when the robot is in Background Mode only, this command immediately
halts all robot motion operations.
Format
HALT
Description
A controlled stop is applied to halt all robot motion while minimizing wafer move-
ment on the end effector and the Z axis brake applied. Referencing is maintained after
a HALT; all axes that were referenced before the HALT will still be referenced after
the HALT. A “ready” response will be returned when the halt action is complete.
NOTE:
To stop the robot, enter <CTRL> <C> on the user keyboard.
Example
The following example stops all current movement. The arms may be moved manu-
ally in the R and T axes.
HALT
