Programmable Stop Functions - ABB OmniCore V250XT Type B Product Manual

3.5.11 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 networks, I/O blocks, RobAPI,
etc. See next release version.
Pre-defined system input
Stop
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.
Stop with RAPID instructions
There are several RAPID instructions available that stops the robot.
Instruction
SystemStopAction
Stop
Product manual - OmniCore V250XT Type B
3HAC087112-001 Revision: A
• Stop with system input signals
• Stop with RAPID instructions
• Other stops
Description
The manipulator is stopped on the path with no deviation.
This is a faster stop of the manipulator than SoftStop. This stop
is more stressing for the mechanics than SoftStop. QuickStop
ignores torque and acceleration limits.
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.
Description
Stops all robots in all tasks imme-
diately.
The current move instruction will
be finished before the robot stops.
A restart will continue the program
execution.
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3 Installation and commissioning
3.5.11 Programmable stop functions
Arguments
\Stop: similar to a normal pro-
gram stop with stop button.
\StopBlock: as above, but to re-
start 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 robot movements in all motion
tasks. The Motors on button must
be pressed before the program
execution can be restarted.
\NoRegain: the robot will not re-
turn to the stop point when restar-
ted, e.g. after having been jogged
away.
\AllMoveTasks: all robots will be
stopped.
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