IAI America XSEL-QX User Manual
Page 198
174
Part 4 Commands
z ABPG (Abort other program)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1
Operand 2
Output
(Output, flag)
Optional Optional
ABPG
Program
number
(Program
number)
CC
[Function] Forcibly end the programs from the one specified in operand 1 to the other specified in
operand 2. Specification in operand 1 only is allowed.
(Note 1)
If an ABPG command is issued while a movement command is being executed, the axes will
immediately decelerate and stop.
(Note 2)
Not only the operation but also the execution of the step itself will be terminated.
[Example 1]
ABPG
10
12
End program Nos. 10, 11 and 12.
Error-generation/output-operation conditions
When one ABPG program is specified (only operand 1 is specified)
No program number error *1
Program already registered
Status of the
specified program
Program running
Program not
running
Program not yet
registered
Program number error
*1
Error None
None None
C2C
“Program number error”
Output operation
ON (OFF *2)
ON
ON
OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program. Errors caused
by other factors are excluded.
* 1 --- A program number error indicates that a number less than 1 or exceeding the number of maximum supported programs
has been specified.
* 2 --- If an own task (own program) is specified in an ABPG command, the own task will be terminated and then deleted. The
output will turn OFF.
When multiple ABPG programs are specified (both operands 1 and 2 are specified)
No program number error *3
Registered program exists inside the
specified range *4
Status of the
specified program Running program
exists inside the
specified range
None of programs
inside the specified
range are running
None of
programs inside
the specified
range are
registered
Program number error
*1
Error None None None
C2C
“Program number error”
Output operation
ON (OFF *5)
ON
ON
OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program. Errors caused
by other factors are excluded.
* 3 --- A program number error indicates that a range of numbers including a number or numbers less than 1 or exceeding the
number of maximum supported programs has been specified.
* 4 --- In this case, non-registered programs inside the specified range are not treated as a target of operation. This will not affect
error generation or output operation.
* 5 --- If an own task (own program) is included in the specified range, the own task will be terminated, upon which the processing
of the ABPG command will end. Since the own task will be deleted, the result of ending the processing of specified
programs will become indeterminable. Exercise caution. The output will always turn OFF regardless of the result.