Stopping User Programs

After you have created, verified and downloaded and started a User Program, you may want to stop it.

How to Stop a User Program

End Link Type:
If the user program encounters an Endlink type, itwill stop.
Issue the Stop Task (91) Command:
Issue the Stop Task (91) command from RMCTools, a PLC, or other host controller. You must know which task the program is running on to stop it. Use the Task Monitor tosee which task the user program is running on.
Halt an axis:
By default, the RMC is configured such that, if an axis halts, all tasks will stop. This setting can be changed on theProgrammng Propertiesdialog.
See the Halts Overview topic for details on when halts can occur.
From the Task Monitor
In the Task Monitor right-click a Task listed in the Task Monitor that is running the user program and click Stop Task.
Create a Trigger in the Program Triggers
A trigger in the Program Triggerscontaining <StopTask> in one of the Task columns will stop that task when the condition becomes true.

What Happens When a User Program Stops

A User Program is simply a method of issuing commands to the RMC. When the User Program stops, it stops issuing commands to the RMC. It does not mean that the commands it issued are terminated, nor that motion on the axis stops.

For example, consider the following user program:

This user program only runs one step (which takes only one loop time of the RMC), then stops. However, the command that was issued will be processed until it is complete. The axis will move to 20 pu and then stop.