ABB IRC5 with FlexPendant, Operating Manual

Page: 244 / 306

6.1.2 Stopping programs
Stopping programs
If your robot system has the Multitasking option installed, see Using multitasking
programs on page 245 .
Action
Check that the ongoing operation is in such a state that it can be interrupted. 1
Make sure it is safe to stop the program. 2
Press the Stop button on the hardware button set of the jogging device. 3
DANGER
Do not use the Stop button in an emergency. Use the emergency stop button.
Stopping a program with the Stop button does not mean that the robot will stop
moving immediately.
Stopping execution when using hold-to-run or step-by-step execution
When using hold-to-run or step-by-step execution, execution can be stopped
according to the following.
Information Action Mode
The hold-to-run function is
described in section
The
FlexPendant on page 37 .
Release the Start button Operation with hold-to-run
The STOP and Forward but-
ton are described in section
The FlexPendant on page 37 .
The robot will stop after ex-
ecuting each instruction.
Execute the next instruction
by pressing the
Forward but-
ton again.
Step-by-step mode
If you press the STOP button
while executing a move in-
struction, the robot will stop
without completing the move.
244 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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6.1.2 Stopping programs