NoPause/NoEmgAbort task specification

Status by Event and Task

Event	Task Type
	Normal	NoPause	NoEmgAbort
Pause Statement, Pause Input, Pause Button	Pause	Continue *1	Continue
Safety Door Open	Pause *2	Continue *1 *2	Continue
Error during Auto Mode	Stop	Stop	Continue
Error during Program Mode	Pause	Pause	Continue
Emergency Stop	Stop	Stop	Continue
Stop Button, Stop Input	Stop	Stop	Stop
Halt Statement, Halt Button	Pause	Pause	Pause
Brake Point	Pause	Pause	Pause
Switching to Teach Mode	Stop	Stop	Stop

*1 When the robot is operating, the task pauses as the robot pauses.

*2 When [Outputs off during Emergency Stop] is checked in the [Preferences] page of [Setup]-[System Configuration]-[Controller], normal tasks and NoPause tasks stop when the Safety Door is opened.

Task Execution

• Normal: Omit the task type in Xqt statement, or specify Normal for the task type.

  Xqt NormalTask
  Xqt NormalTask, Normal
  

• NoPause: Specify NoPause in Xqt statement.

  Xqt NoPauseTask, NoPause
  

• NoEmgAbort: Specify NoEmgAbort in Xqt statement.

  Xqt NoEmgAbortTask, NoEmgAbort
  

You cannot change the task type after executing a task.

main to main63 that are executed at the beginning of the program are executed as normal tasks.

Type of a task executed in Trap Xqt is determined by the event type.

For details, refer to Help or the following manual:

"SPEL+ Language Reference - Trap"

Restricted Commands by Task Types

• Normal: No restriction

• NoPause: No restriction

• NoEmgAbort: Cannot execute the following commands.

  • Command for robot motion
  • Commands for vision
  • Reset, Xqt, Trap, etc.

  For details, refer to Help or the following manual:

  "SPEL+ Language Reference - Xqt"