ArgumentsDescriptionInstruction
\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.
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.
SearchX
\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.
RAPID instructions are described in Technical reference manual - RAPID
Instructions, Functions and Data types.
Other unexpected stops
DescriptionType of stop
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.
SysFail
In the control system there is a monitoring function that can
detect power failure. In such cases a stop will be initiated.
Power fail
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.
Stop at collision
WARNING
The revolution counters might need to be updated after a colli-
sion to ensure path accuracy.
132 Product manual - OmniCore C30
3HAC060860-001 Revision: P
© Copyright 2019-2022 ABB. All rights reserved.
3 Installation and commissioning
3.5.10 Programmable stop functions
Continued
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