ABB OmniCore C90XT, Product Manual

Page: 101 / 450

Stop with RAPID instructions
There are several RAPID instructions available that stops the robot.
Arguments Description Instruction
\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 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.
Continues on next page
Product manual - OmniCore C90XT 101
3HAC073706-001 Revision: D
© Copyright 2020-2021 ABB. All rights reserved.
3 Installation and commissioning
3.5.11 Programmable stop functions
Continued