ABB IRC5 Compact User Manual

DescriptionPre-defined system input
Stops program execution after the current instruction is com-
pleted.
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.
Note
Only safety rated input signals are allowed to be used for safety.
Stop with RAPID instructions
There are several RAPID instructions available that stops the robot.
ArgumentsDescriptionInstruction
\Stop: similar to a normal pro-
gram stop with stop button.
Stops all robots in all tasks imme-
diately.
SystemStopAction
\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.
The current move instruction will
be finished before the robot stops.
A restart will continue the program
execution.
Stop
\AllMoveTasks: all robots will be
stopped.
\Quick: the stop will be a soft
stop on path, as described for
system input SoftStop, otherwise
similar to a normal program stop.
The current move instruction will
be stopped immediately as a nor-
mal program stop but the program
execution will continue with the
next instruction. This is often used
in for example trap routines.
StopMove
\AllMotionTasks: all robots will
be stopped.
The current move instruction and
the program execution will be
stopped immediately as a normal
program stop. A restart will contin-
ue the program execution.
BREAK
The current move instruction and
the program execution will be
stopped immediately as a normal
program stop. After stop the Pro-
gram Pointer has to be reset to
Main.
EXIT
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.
EXITCYCLE
Continues on next page
86 Product manual - IRC5 Compact
3HAC047138-001 Revision: G
© Copyright 2009-2017 ABB. All rights reserved.
2 Installation and commissioning
2.6.9 Programmable stop functions
Continued

ABB IRC5 Compact Specifications

General

Brand	ABB
Model	IRC5 Compact
Category	Controller
Language	English