Programmable Stop Functions - ABB IRC5 Compact Product Manual

2.6.9 Programmable stop functions

Stopping functions
There are different methods to stop the robot, in addition to manually initiated
stops.
Stop category configuration
The stop category can be configured, see Technical reference manual - System
parameters.
Safety inputs
Automatic Stop
General Stop
Superior Stop
Emergency Stop
Stop with system input signals
In the control system, it is possible to define system input signals to be set/reset
through different interactions, for example, through networks, I/O blocks, RobAPI,
etc. See Application manual - Controller software IRC5.
Pre-defined system input
Stop
SoftStop
QuickStop
Stop at End of Cycle
Product manual - IRC5 Compact
3HAC047138-001 Revision: G
• Stop with system input signals
• Stop with RAPID instructions
• Other stops
System paramet-
er Function
SoftAS
SoftGS
SoftSS
SoftES
Description
The RAPID program execution is stopped, and the manipulator
is stopped on path with no deviation. The RAPID program
cannot be started when this system input signal is high. This
stop is similar to a normal program stop using stop button on
the FlexPendant.
This is a faster stop of the manipulator than Stop. This stop is
more stressing for the mechanics than normal stop, therefore
there might be a minor deviation on path.
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.
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2 Installation and commissioning
2.6.9 Programmable stop functions
Description
SoftAS can be used to configure the protective stop
in automatic mode either as stop category 0 or cat-
egory 1. The default configuration is TRUE (stop cat-
egory 1).
SoftGS can be used to configure the protective stop
in automatic and manual mode, either as stop category
0 or category 1. The default configuration is TRUE
(stop category 1).
SoftSS can be used to configure the protective stop
in automatic and manual mode, either as stop category
0 or category 1. The default configuration is TRUE
(stop category 1).
SoftES is used to configure the emergency stop in
automatic and manual mode. The default configuration
is FALSE (stop category 0).
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