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.
\AllMotionTasks: all robots will
be stopped.
The current move instruction will
be stopped immediately as a nor-
mal program stop but the program
execution will continue with the
next instruction. StartMove must
be executed to get the robot mov-
ing again.
StopMove
The current move instruction and
the program execution will be
stopped immediately as a normal
program stop. A restart of the pro-
gram will continue the program
execution.
DebugBreak
The current move instruction and
the program execution will be
stopped immediately as a normal
program stop. After stop the Pro-
gram Pointer is lost and has to be
reset to Main.
EXIT
The current move instruction and
program execution will be stopped
immediately. The Program Pointer
will be moved to Main and if run-
ning mode is continuous, the pro-
gram will be restarted.
EXITCYCLE
Continues on next page
100 Product manual - OmniCore E10
3HAC079399-001 Revision: C
© Copyright 2019-2022 ABB. All rights reserved.
3 Installation and commissioning
3.5.10 Programmable stop functions
Continued
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