Programmable Stop Functions - ABB IRC5 Compact Product Manual

2 Installation and commissioning

2.6.9 Programmable stop functions

2.6.9 Programmable stop functions
Stopping functions
There are different methods to stop the robot, in addition to manually initiated
stops.
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 I/O signals. See Application
manual - Controller software IRC5.
The RAPID program cannot be started when any of the system input signals is
high.
Pre-defined system input
Stop
SoftStop
QuickStop
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 if the stop signal is set low.
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• Stop with system input signals
• Stop with RAPID instructions
• Other stops
Note
Only safety rated input signals are allowed to be used for safety.
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Description
The RAPID program execution is stopped, and the manipulator
is stopped on path with no deviation. 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.
This is a faster stop of the manipulator than Stop and SoftStop.
This stop is more stressing for the mechanics than normal stop
or SoftStop, therefore there might be a deviation on path.
Stops the RAPID program when the complete program is ex-
ecuted, that means when the last instruction in the main routine
has been completed.
Stops program execution after the current instruction is com-
pleted.
Product manual - IRC5 Compact
3HAC047138-001 Revision: M