ABB IRC5 Compact Product Manual page 86

2 Installation and commissioning
2.6.9 Programmable stop functions
Continued
Instruction
SearchX
RAPID instructions are described in Technical reference manual - RAPID
Instructions, Functions and Data types.
Other unexpected stops
Type of stop
SysFail
Power fail
Stop at collision
86
Description
Search instructions can be pro-
grammed with arguments to stop
the robot movement close to the
point where a search hit was no-
ticed. The program execution will
continue with the next instruction.
Description
In the control system there is a surveillance and monitoring
function that can detect abnormal situations. In such cases a
stop will be initiated. The robot controller must be restarted.
In the control system there is a monitoring function that can
detect power failure. In such cases a stop will be initiated.
In the control system there is a monitoring function that can
detect collisions. In such cases a stop will be initiated.
WARNING
Special care must be taken when restarting a machine that is
stopped due to a collision. The robot might make a limited
move when restarted.
WARNING
The revolution counters might need to be updated after a colli-
sion to ensure path accuracy.
© Copyright 2009-2020 ABB. All rights reserved.
Arguments
\Stop: the robot will stop as fast
as possible. This stop is per-
formed by ramping down motion
in each motor separate from each
other, and as fast as possible.
Since it will be without any coordin-
ation, the robot may slide off path
fairly much.
\PStop: the robot will stop like
after a normal program stop.
\SStop: the robot will stop on path
but quicker than a normal program
stop. This is similar to a system
input SoftStop.
\Sup: the robot will continue to the
ToPoint. If more than one search
hit is found, an error will be repor-
ted.
Product manual - IRC5 Compact
3HAC047138-001 Revision: M