ABB IRC5 Compact Product Manual page 19

Stop mode:
Uncontrolled
Stop with system input signals
In addition to the hardware stops as described above, it is also possible to define
system input signals, which will give an immediate or delayed stop of different
modes for all tasks and manipulators, when activated. Such signals are defined
as system parameters of the type System Input in the topic I/O and for the following
stop modes.
Stop mode:
Stop
QuickStop
SoftStop
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.
3HAC035738-001 Revision: E
Manual stop:
Release of enabling device
or
Switching operating mode key
Note
Note, these stops shall not be used as safety stops, as they are not fulfilling
safety category 3.
© Copyright 2009-2013 ABB. All rights reserved.
1.2.5.1 Overview of manipulator stopping functions
Description:
This will stop program execution and
stop all program movements.
Description:
Stops the RAPID program execution. All manipulator move-
ments will be stopped on the path with no deviation. A program
cannot be started when this signal is high. This stop is similar
to a normal program stop using stop button on the FlexPendant.
Stops the RAPID program execution quickly, like a controlled
category 1 emergency/safety stop. This stop is performed by
ramping down motion as fast as possible using optimum motor
performance. The different axes are still coordinated to trying
to keep the manipulator on path even if it may slide off by some
millimeters. Note, this kind of stop is more stressing for the
mechanics than normal stop or SoftStop.
Stops the RAPID program execution much like an ordinary
program stop, but slightly faster. The stop is performed by
ramping down motion in a controlled and coordinated way, to
keep the manipulator on the programmed path with minor de-
viation. This kind of stop is more soft to the mechanics than
the QuickStop.
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.
1 Safety
Continued
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