Programmable Stop Functions - ABB IRC5 Product Manual

2.5.11 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
Product manual - IRC5
3HAC047136-001 Revision: M
• Stop with system input signals
• Stop with RAPID instructions
• Other stops
System paramet-
er Function
SoftAS
SoftGS
SoftSS
SoftES
Note
When an input to initiate an automatic stop (SoftAS) is activated, it must remain
active for at least 1.5 s.
© Copyright 2004-2018 ABB. All rights reserved.
2 Installation and commissioning
2.5.11 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).
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.
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