ABB OmniCore C90XT, Product Manual

Page: 102 / 450

RAPID instructions are described in Technical reference manual - RAPID
Instructions, Functions and Data types .
Other unexpected stops
Description Type 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. SysFail
In the control system there is a monitoring function that can
detect power failure. In such cases a stop will be initiated. Power fail
In the control system there is a monitoring function that can
detect collisions. In such cases a stop will be initiated.
WARNING
Special care must be taken when restarting a machine that is
stopped due to a collision. The robot might make a limited
movement when restarted.
Stop at collision
WARNING
The revolution counters might need to be updated after a colli-
sion to ensure path accuracy.
Stopping time/distance
Stopping time/distance for emergency stop (category 0), program stop (category1)
at max speed, max stretched out and max load, categories according to EN 60204-1.
All results are from tests on one moving axis. All stop distances are valid for floor
mounted robot, without any tilting.
For detail stopping time/distance for each robot, see Product specification Robot
stopping distances according to ISO 10218-1 .
102 Product manual - OmniCore C90XT
3HAC073706-001 Revision: D
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3 Installation and commissioning
3.5.11 Programmable stop functions
Continued