Loctite 400 Manual

A SERVICE OF

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Ending a program: endProg

The following explains how to end a program (running the operation) at the current point. The arm

will not return to the Work Home position.

Command Category

Command

Parameter

Job

endProg - Ends program run at the current point. Execute Flow Control

 The command “endProg” is invalid at the CP Passing Point or a point whose Base Type is CP

Passing Point.

Example: Below is the The Point Job Data for

the operation shown to the right chart

genIn2=ON

Raise the Z axis to the

highest position and end

the program.

waitCondTime 500

ld #genIn2

timeUp

movetoZ 0,10

endProg

endWait

“endProg” is a command to end the program at the current point without returning to the Work Home

position.

It is different from stop in that the robot will not restart operation. You have to start the job from the

beginning.

 If you want the robot to return to the Work Home position before ending the program, use the

“goPoint” command with a destination number “0” for the Work Home Position.

Features II CARTESIAN Benchtop Robot

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