
8
HOLD 8-73
A
B
C
D
E
F
G
H
I
J
K
L
M
45
HOLD
Temporarily stops the program
Format
HOLD expression
character string
Explanation
Temporarily stops the program. When restarted, processing resumes from the next
line after the HOLD statement. If an <
expression
> or <
character string
> is written in
the statement, the contents of the <
expression
> or <
character string
> display on the
programming box screen.
• HOLD is effective only in the task executed. The programs executed in other tasks continue
execution.
SAMPLE
’MAIN ROUTINE
*ST:
MOVE P,P0,P1
IF DI(20)=1 THEN
HOLD "PROGRAM STOP"
ENDIF
GOTO *ST
HALT
In PTP movement specified by movement commands such as MOVE and DRIVE, the next line's
command is executed when the axis enters the effective OUT position range.
Therefore, if a HOLD command exists immediately after a PTP movement command, that HOLD
command is executed before the axis arrives in the target position tolerance range.
Likewise, when specifying CONT options in interpolation movement during MOVE (L or C)
command, the next command is executed immediately after movement starts. Therefore, if a
HOLD command exists immediately after the interpolation movement command during MOVE
(L or C) command with CONT options, a HOLD command is executed immediately after starting
movement.
In either of the above cases, use the WAIT ARM command as shown below if desiring to execute
the HOLD command after the axis arrives within the target position tolerance range.
HOLD command
HOLD execution
DRIVE(1,P1)
WAIT ARM
HOLD
DRIVE(1,P1)
HOLD
Tolerance
OUT position
Target position
HOLD execution
33822-R7-00
MEMO
Summary of Contents for SCARA YRCX Series
Page 1: ... 7 6HULHV DW 1R 1 5 5RERW RQWUROOHU 352 5 00 1 0 18 6 5 5RERWV 5 6HULHV ...
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Page 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
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Page 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
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Page 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
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Page 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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