ABB IRC5 Compact Product Manual page 20

1 Safety
1.2.5.1 Overview of manipulator stopping functions
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Stop with RAPID instructions
There are several RAPID instructions available that stops the manipulator.
Instruction:
SystemStopAction
Stop
StopMove
BREAK
EXIT
EXITCYCLE
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20
Description:
Stops all manipulators in all tasks
immediately.
The current move instruction will
be finished before the manipulator
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.
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.
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Arguments:
\Stop - similar to a normal program
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
manipulator movements in all mo-
tion tasks. The Motors on button
must be pressed before the pro-
gram execution can be restarted.
\NoRegain - the manipulator will
not return to the stop point when
restarted, e.g. after having been
jogged away.
\AllMoveTasks - all manipulators
will be stopped
\Quick - the stop will be a soft stop
on path, as described above for
system input SoftStop, otherwise
similar to a normal program stop.
\AllMotionTasks - all manipulators
will be stopped
3HAC035738-001 Revision: E