ABB IRC5 Compact Product Manual page 21

Instruction:
SearchX
RAPID instructions valid for IRC5 are described in Technical reference
manual - RAPID Instructions, Functions and Data types.
System failure stops
Type of stop:
SysFail
Power fail
Stop at collision
3HAC035738-001 Revision: E
1.2.5.1 Overview of manipulator stopping functions
Description:
Search instructions can be pro-
grammed with arguments to stop
the manipulator movement close
to the point where a search hit was
noticed. The program execution
will continue with the next instruc-
tion.
Description:
In event of system failure raising a SysFail error the manipulator
will stop immediately, with brakes being activated.
This is an uncontrolled stop category 0.
In event of power failure the manipulator will stop immediately,
with brakes being activated.
This is an uncontrolled stop category 0.
When a collision is detected the manipulator will stop immedi-
ately, with power disconnected from the drive units and the
brakes activated.
After full stop the power is reconnected and the residual forces
are relieved by moving the manipulator in the reversed direction
a short distance back to its path. Then the program execution
will stop with an error message.
The manipulator remains in the state Motors on so that program
execution can be resumed after the collision error message
has been acknowledged.
This is an uncontrolled stop category 0.
© Copyright 2009-2013 ABB. All rights reserved.
1 Safety
Continued
Arguments:
\Stop - the manipulator will stop
as fast as possible. This stop is
performed by ramping down mo-
tion in each motor separate from
each other, and as fast as pos-
sible. Since it will be without any
coordination, the manipulator may
slide off path fairly much. This is
also called StiffStop.
\PStop - the manipulator will stop
like after a normal program stop.
\SStop - the manipulator will stop
on path but quicker than a normal
program stop. This is similar to a
system input SoftStop.
\Sup - the manipulator will contin-
ue to the ToPoint. If more than one
search hit is found, an error will be
reported.
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