ABB IRC5 Product Manual page 23

Stop with RAPID instructions
There are several RAPID instructions available that stops the manipulator.
Instruction:
SystemStopAction
Stop
StopMove
BREAK
EXIT
EXITCYCLE
3HAC021313-001 Revision: P
1.2.5.1. Overview of manipulator stopping functions
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
normal 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
continue the program execution.
The current move instruction and
the program execution will be
stopped immediately as a normal
program stop. After stop the
Program 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.
1 Safety
Continued
Arguments:
\Stop - similar to a normal program
stop with stop button.
\StopBlock - as above, but to
restart 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
motion tasks. The Motors on
button must be pressed before the
program 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
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