ABB IRC5 Product Manual page 22

1 Safety
1.2.5.1. Overview of manipulator stopping functions
Continued
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.
NOTE!
Note, these stops shall not be used as safety stops, as they are not fulfilling safety category 3.
20
Description:
Stops the RAPID program execution. All manipulator
movements 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
deviation. This kind of stop is more soft to the mechanics than
the QuickStop.
Stops the RAPID program when the complete program is
executed, that means when the last instruction in the main
routine has been completed.
Stops program execution after the current instruction is
completed.
Continues on next page
3HAC021313-001 Revision: P