Staubli CS8C, Instruction Manual

Page: 140 / 248

© Stäubli 2009 –
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CS8C 140 / 248
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.