ArgumentsDescriptionInstruction
\AllMotionTasks: all robots will
be stopped.
The current move instruction will
be stopped immediately as a soft
stop but the program execution
will continue with the next instruc-
tion. This is often used in for ex-
ample trap routines.
StopMove
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
\Stop: Stiff stop - the robot will
stop as fast as possible. This stop
is performed by ramping down
motion in each motor separate
from each other, and as fast as
possible. Since it will be without
any coordination, 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: Soft stop - the robot will
stop on path.
\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,
and the configuration may have to be changed.
SysFail
In the control system there is a monitoring function that can
detect power failure. At power fail, all execution will be stopped.
After powerOn/motorsOn, it is possible to restart and continue
the execution where it stopped.
Power fail
Continues on next page
112 Product manual - OmniCore V250XT Type B
3HAC087112-001 Revision: A
© Copyright 2023-2023 ABB. All rights reserved.
3 Installation and commissioning
3.5.11 Programmable stop functions
Continued
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