ABB IRC5 Product Manual page 96

2 Installation and commissioning
2.5.13 Programmable stop functions
Continued
Stop with RAPID instructions
There are several RAPID instructions available that stops the robot.
Instruction
SystemStopAction
Stop
StopMove
DebugBreak
EXIT
EXITCYCLE
Continues on next page
96
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. StartMove must
be executed to get the robot mov-
ing again.
The current move instruction and
the program execution will be
stopped immediately as a normal
program stop. A restart of the pro-
gram will continue the program
execution.
The current move instruction and
the program execution will be
stopped immediately as a normal
program stop. After stop the Pro-
gram Pointer is lost and has to be
reset to Main.
The current move instruction and
program execution will be stopped
immediately. The Program Pointer
will be moved to Main and if run-
ning mode is continuous, the pro-
gram will be restarted.
© Copyright 2007-2024 ABB. All rights reserved.
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 Panel Mounted Controller
3HAC047137-001 Revision: AB