ABB IRC5 Product Manual page 86

2 Installation and commissioning
2.5.11 Programmable stop functions
Continued
Pre-defined system input
QuickStop
Stop at End of Cycle
Stop at End of Instruction
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.
Stop with RAPID instructions
There are several RAPID instructions available that stops the robot.
Instruction
SystemStopAction
Stop
StopMove
BREAK
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86
Note
Only safety rated input signals are allowed to be used for safety.
Description
Stops all robots in all tasks imme-
diately.
The current move instruction will
be finished before the robot stops.
A restart will continue the program
execution.
The current move instruction will
be stopped immediately as a nor-
mal program stop but the program
execution will continue with the
next instruction. This is often used
in for example trap routines.
The current move instruction and
the program execution will be
stopped immediately as a normal
program stop. A restart will contin-
ue the program execution.
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Description
This is a faster stop of the manipulator than Stop and SoftStop.
This stop is more stressing for the mechanics than normal stop
or SoftStop, therefore there might be a deviation on path.
Stops the RAPID program when the complete program is ex-
ecuted, that means when the last instruction in the main routine
has been completed.
Stops program execution after the current instruction is com-
pleted.
Arguments
\Stop: similar to a normal pro-
gram stop with stop button.
\StopBlock: as above, but to re-
start 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.
\NoRegain: the robot will not re-
turn to the stop point when restar-
ted, e.g. after having been jogged
away.
\AllMoveTasks: all robots will be
stopped.
\Quick: the stop will be a soft
stop on path, as described for
system input SoftStop, otherwise
similar to a normal program stop.
\AllMotionTasks: all robots will
be stopped.
Product manual - IRC5
3HAC047136-001 Revision: M