QP Statement

Switches Quick Pause Mode On or Off and displays the current mode status.

Syntax
(1) QP { On | Off }​

(2) QP

Parameters

On | Off

Specify Quick Pause On (set) or Off (cancel).

Return Values
Displays the current QP mode setting when parameter is omitted.

Description
If during motion command execution either the Pause switch is pressed, or a pause signal is input to the controller, quick pause mode determines whether the robot will stop immediately, or will Pause after having executed the motion command.

Immediately decelerating and stopping is referred to as a “Quick Pause”.

With the On parameter specified, QP turns the Quick Pause mode On. With the Off parameter specified, QP turns the Quick Pause mode Off.

QP displays the current setting of whether the robot arm is to respond to the Pause input by stopping immediately or after the current arm operation is completed. QP is simply a status instruction used to display whether Quick Pause mode is on or off.

Notes

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• Quick pause mode defaults to on after power is turned on:

  The Quick Pause mode set by the QP instruction remains in effect after the Reset instruction. However, when the PC power or Drive Unit power is turned off and then back on, Quick Pause mode defaults to On.

• QP and the Safe Guard Input:

  Even if QP mode is set to Off, if the Safe Guard Input becomes open the robot will pause immediately.

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See Also
Pause

QP Statement Example
This Command window example displays the current setting of whether the robot arm is to stop immediately on the Pause input. (i.e. is QP mode set On or Off)

> qp
QP ON

> qp on  'Sets QP to Quick Pause Mode
>