ABB IRC5 Product Manual page 87

Instruction
EXIT
EXITCYCLE
SearchX
RAPID instructions valid for IRC5 are described in Technical reference
manual - RAPID Instructions, Functions and Data types.
Other unexpected stops
Type of stop
SysFail
Power fail
Stop at collision
Product manual - IRC5
3HAC047136-001 Revision: M
Description
The current move instruction and
the program execution will be
stopped immediately as a normal
program stop. After stop the Pro-
gram Pointer has to be reset to
Main.
The current move instruction and
program execution will be stopped
immediately. The Program Pointer
will be reset to Main and if running
mode is continuous, the program
will be restarted.
Search instructions can be pro-
grammed with arguments to stop
the robot movement close to the
point where a search hit was no-
ticed. The program execution will
continue with the next instruction.
Description
In the control system there is a surveillance and monitoring
function that can detect abnormal situations. In such cases a
stop will be initiated. The robot controller must be restarted.
In the control system there is a monitoring function that can
detect power failure. In such cases a stop will be initiated.
In the control system there is a monitoring function that can
detect collisions. In such cases a stop will be initiated.
WARNING
Special care must be taken when restarting a machine that is
stopped due to a collision. The robot might make a limited
movement when restarted.
WARNING
The revolution counters might need to be updated after a colli-
sion to ensure path accuracy.
© Copyright 2004-2018 ABB. All rights reserved.
2 Installation and commissioning
2.5.11 Programmable stop functions
Arguments
\Stop: the robot will stop as fast
as possible. This stop is per-
formed by ramping down motion
in each motor separate from each
other, and as fast as possible.
Since it will be without any coordin-
ation, the robot may slide off path
fairly much.
\PStop: the robot will stop like
after a normal program stop.
\SStop: the robot will stop on path
but quicker than a normal program
stop. This is similar to a system
input SoftStop.
\Sup: the robot will continue to the
ToPoint. If more than one search
hit is found, an error will be repor-
ted.
Continued
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