ABB IRC5 Product Manual page 20

1 Safety
1.2.5.1. Overview of robot stopping functions
Continued
Stop with system input signals
In addition to the hardware stops as described above, it is also possible to define system input
signals, which will give an immediate or delayed stop of different modes for all tasks and
robots, when activated. Such signals are defined as system parameters of the type System
Input in the topic I/O and for the following stop modes.
Stop mode:
Stop
QuickStop
SoftStop
Stop at End of Cycle
Stop at End of Program
All of these stops are performed without using the brakes, and the power is never
disconnected. The program execution can be continued directly, for example by activating a
start signal.
NOTE!
Note, these stops shall not be used as safety stops, as they are not fulfilling safety category 3.
Stop with RAPID instructions
There are several RAPID instructions available that stops the robot.
Instruction:
SystemStopAction
18
Description:
Stops the RAPID program execution. All robot movements will
be stopped on the path with no deviation. A program cannot be
started when this signal is high. This stop is similar to a normal
program stop using stop button on the FlexPendant.
Stops the RAPID program execution quickly, like a controlled
category 1 emergency/safety stop . This stop is performed by
ramping down motion as fast as possible using optimum motor
performance. The different axes are still coordinated to trying to
keep the robot on path even if the robot may slide off with some
millimeter. Note, this kind of stop is more stressing for the
mechanics than normal stop or SoftStop.
Stops the RAPID program execution much like an ordinary
program stop, but slightly faster. The stop is performed by
ramping down motion in a controlled and coordinated way, to
keep the robot on the programmed path with minor deviation.
This kind of stop is more "soft" to the mechanics than the
QuickStop.
Stops the RAPID program when the complete program is
executed, that means when the last instruction in the main
routine has been completed.
Stops program execution after the current instruction is
completed.
Description:
Stops all robots in all tasks imme-
diately.
Arguments:
\Stop - similar to a normal program
stop with stop button.
\StopBlock - as above, but to
restart the PP has to be moved.
\Halt - this is like a category 0 stop,
i.e. it will result in motors off state,
stop of program execution and
robot movements in all motion
tasks. The Motors on button must
be pressed before the program
execution can be restarted.
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3HAC027707-001 Revision: D