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6.9. STOPPING MOVEMENTS

When the robot is carrying out programmed movements, it is always possible to stop them, using the MCP.

Depending on the stop mode selected by the user, the system can adopt several types of behaviour.

6.9.1. STOPPING/STARTING MOVEMENTS USING THE MOVE / HOLD KEY

Move / Hold key

• In manual mode, the arm movements are activated when the Move / Hold key is pressed. As soon as the key

is released, the arm stops immediately on the programmed trajectory.

• In local and remote modes, the movements can be stopped and the robot set to pause mode, by pressing the

Move / Hold key. Press the key again to reactivate the movements.

• In remote mode, the Move / Hold key may be inactive depending on the user profile (see chapter 5.10.3).

Movements on restarting

When programmed movements are stopped by pressing the Move / Hold key or during an arm power failure,the

system memorizes a stopping point.

When movements are restarted, the arm goes back to the stopping point using point to point movement, at a speed

limited to 250 mm/s.

The restarting movement is commanded by pressing the Move / Hold key in local and manual modes. The

restarting movement can be automatic in "Remote" mode.

Note:

The Move / Hold key does not stop the current application, it simply suspends the arm

movements. The robot is then in pause mode.

Stopping using the powering up/ power switch-off button

When switching off the power (See paragraph 6.3), the movements are first suspended as with the Move / Hold

key, and then the system applies the brakes and cuts off the power supply to the arm. To restart movements, follow

the particular procedure for the working mode selected (see paragraph 6.3).

Note:

The arm power can be switched off via the MCP in all the working modes.

Staubli CS8C User Manual

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