ABB IRC5 Product Manual page 24

1 Safety
1.2.5.1. Overview of manipulator stopping functions
Continued
Instruction:
SearchX
RAPID instructions are described in Technical reference manual - RAPID Instructions,
Functions and Data types.
System failure stops
Type of stop:
SysFail
Power fail
Stop at collision
22
Description:
Search instructions can be
programmed with arguments to
stop the manipulator movement
close to the point where a search
hit was noticed. The program
execution will continue with the
next instruction.
Description:
In event of system failure raising a SysFail error the manipulator
will stop immediately, with brakes being activated.
This is an uncontrolled stop category 0.
In event of power failure the manipulator will stop immediately,
with brakes being activated.
This is an uncontrolled stop category 0.
When a collision is detected the manipulator will stop immedi-
ately, with power disconnected from the drive units and the
brakes activated.
After full stop the power is reconnected and the residual forces
are relieved by moving the manipulator in the reversed direction
a short distance back to its path. Then the program execution
will stop with an error message.
The manipulator remains in the state Motors on so that program
execution can be resumed after the collision error message has
been acknowledged.
This is an uncontrolled stop category 0.
Arguments:
\Stop - the manipulator will stop as
fast as possible. This stop is
performed by ramping down
motion in each motor separate
from each other, and as fast as
possible. Since it will be without
any coordination, the manipulator
may slide off path fairly much. This
is also called StiffStop.
\PStop - the manipulator will stop
like after a normal program stop.
\SStop - the manipulator will stop
on path but quicker than a normal
program stop. This is similar to a
system input SoftStop.
\Sup - the manipulator will
continue to the ToPoint. If more
than one search hit is found, an
error will be reported.
3HAC021313-001 Revision: P