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
• Stop with RAPID instructions
• Other stops
Stop category configuration
The stop category can be configured, see Technical reference manual - System
parameters.
DescriptionSystem paramet-
er Function
Safety inputs
Category1AS can be used to configure the protective
stop in automatic mode either as stop category 0 or
category 1. The default configuration is TRUE (stop
category 1).
Category1ASAutomatic Stop
Category1LES is used to configure the emergency
stop on the FlexPendant in automatic and manual
mode. The default configuration is FALSE (stop cat-
egory 0).
Category1LESEmergency Stop
Category1EES is used to configure an external emer-
gency stop in automatic and manual mode. The default
configuration is FALSE (stop category 0).
Category1EESEmergency Stop
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.
DescriptionPre-defined system input
The manipulator is stopped on the path with no deviation.SoftStop
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.
QuickStop
Stops the RAPID program when the complete program is ex-
ecuted, that means when the last instruction in the main routine
has been completed.
Stop at End of Cycle
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.
Continues on next page
100 Product manual - OmniCore C90XT
3HAC073706-001 Revision: D
© Copyright 2020-2021 ABB. All rights reserved.
3 Installation and commissioning
3.5.11 Programmable stop functions
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