ABB IRC5 Compact User manual

ABB Robotics
Product manual
IRC5 Compact

Trace back information:
Workspace RW 5-15-01 version a2
Checked in 2013-03-15
Skribenta version 1184

Product manual
IRC5 Compact
M2004
Document ID: 3HAC035738-001
Revision: E
© Copyright 2009-2013 ABB. All rights reserved.

The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to
persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Additional copies of this manual may be obtained from ABB.
The original language for this publication is English. Any other languages that are
supplied have been translated from English.
© Copyright 2009-2013 ABB. All rights reserved.
ABB AB
Robotics Products
SE-721 68 Västerås
Sweden

Table of contents
7Overview of this manual ...................................................................................................................
9Product documentation, M2004 .......................................................................................................
111 Safety
111.1 Introduction to safety information ......................................................................... 121.2 General safety information .................................................................................. 121.2.1 Introduction to general safety information .................................................... 131.2.2 Safety in the manipulator system ............................................................... 141.2.3 Safety risks ............................................................................................ 141.2.3.1 Risks associated with live electric parts ........................................... 161.2.4 Safety actions ......................................................................................... 161.2.4.1 Fire extinguishing ........................................................................ 171.2.5 Safety stops ........................................................................................... 171.2.5.1 Overview of manipulator stopping functions ..................................... 221.2.5.2 What is an emergency stop? .......................................................... 241.2.5.3 What is a safety stop? .................................................................. 261.2.5.4 What is safeguarding? ................................................................. 271.3 Safety related instructions .................................................................................. 271.3.1 Safety signals in the manual ...................................................................... 291.3.2 DANGER - Make sure that the main power has been switched off! .................... 301.3.3 WARNING - The unit is sensitive to ESD! ..................................................... 311.3.4 CAUTION - Never stand on or use the cabinet as a ladder .............................. 321.3.5 CAUTION - Make sure that there are no loose screws or turnings ..................... 331.3.6 CAUTION - Close the cabinet door ............................................................. 341.3.7 CAUTION - Hot components in controller .....................................................
352 Installation and commissioning
352.1 Overview ......................................................................................................... 362.2 Installation Activities .......................................................................................... 372.3 Unpacking the controller ..................................................................................... 382.4 On-site installation ............................................................................................ 382.4.1 Required installation space, IRC5 Controller ................................................ 392.4.2 Mounting the FlexPendant holder ............................................................... 412.4.3 Vertical mounting .................................................................................... 432.5 Buttons and switches ......................................................................................... 432.5.1 Buttons and switches on the front panel ...................................................... 442.5.2 Brake release button ................................................................................ 452.6 Connections ..................................................................................................... 452.6.1 Connectors on the IRC5 Compact controller ................................................. 472.6.2 Connecting a FlexPendant ........................................................................ 482.6.3 Connecting a PC to the service port ............................................................ 502.6.4 Connection to serial channel ..................................................................... 532.6.5 Connecting power supply ......................................................................... 552.6.6 Fitting the connector ................................................................................ 572.6.7 Connecting the manipulator to the IRC5 Compact controller ............................ 592.6.8 Descriptions for contacts XS7, XS9, XS10, XS11, XS12 and XS13 .................... 612.6.9 The MOTORS ON/MOTORS OFF circuit ...................................................... 662.6.10 Emergency stop output ............................................................................ 672.7 Opening the IRC5 Compact controller ................................................................... 672.7.1 Accessing the controller parts ................................................................... 722.8 Drive system .................................................................................................... 722.8.1 Drive functions, general ............................................................................ 732.9 Memory functions .............................................................................................. 732.9.1 Memory functions .................................................................................... 742.9.2 Connecting a USB memory .......................................................................
3HAC035738-001 Revision: E 5
© Copyright 2009-2013 ABB. All rights reserved.
Table of contents

762.10 I/O system ....................................................................................................... 762.10.1 Definition of I/O units ............................................................................... 792.11 Installation of add-ons ........................................................................................ 792.11.1 Installation of external operator's panel ....................................................... 822.11.2 Installation of I/O, gateways and encoder interface units outside IRC5 Compact .. 842.11.3 Installation of Remote Service antenna ....................................................... 862.11.4 Installation of external terminal blocks ........................................................
893 Maintenance
893.1 Maintenance schedule, controller IRC5 Compact .................................................... 903.2 Inspection activities ........................................................................................... 903.2.1 Inspection of controller ............................................................................. 913.3 Changing/replacing activities ............................................................................... 913.3.1 Activities ............................................................................................... 923.4 Cleaning activities ............................................................................................. 923.4.1 Cleaning of the controller cabinet ............................................................... 933.4.2 Cleaning the FlexPendant .........................................................................
974 Repair
974.1 Overview ......................................................................................................... 984.2 Replacement of safety board ............................................................................... 1014.3 Replacement of I/O unit ...................................................................................... 1034.4 Replacement of backup energy bank .................................................................... 1064.5 Replacement of motherboard .............................................................................. 1114.6 Replacement of DDR SDRAM memory on motherboard ........................................... 1144.7 Replacement of DeviceNet Lean board .................................................................. 1174.8 Replacement of PCI boards ................................................................................ 1214.9 Replacement of fieldbus adapter ......................................................................... 1264.10 Replacement of Compact Flash memory ............................................................... 1294.11 Replacement of drive unit ................................................................................... 1314.12 Replacement of axis computer DSQC 668 .............................................................. 1344.13 Replacement of system fans ............................................................................... 1364.14 Replacement of brake resistor bleeder .................................................................. 1394.15 Replacement of Remote Service box .................................................................... 1414.16 Replacement of power supply .............................................................................. 1414.16.1 Replacement of power distribution board ..................................................... 1444.16.2 Replacement of system power supply ......................................................... 1474.16.3 Replacement of line filter ..........................................................................
1495 Decommissioning
1495.1 Introduction ...................................................................................................... 1505.2 Environmental information ..................................................................................
1516 Reference information
1516.1 Introduction ...................................................................................................... 1526.2 Applicable safety standards ................................................................................ 1546.3 Unit conversion ................................................................................................. 1556.4 Screw joints ....................................................................................................
1577 Spare parts
1577.1 IRC5 Compact controller .................................................................................... 1617.2 Manipulator cables ............................................................................................
1638 Circuit diagrams
1638.1 About circuit diagrams .......................................................................................
165Index
6 3HAC035738-001 Revision: E
© Copyright 2009-2013 ABB. All rights reserved.
Table of contents

Overview of this manual
About this manual
This manual contains instructions for
• installing the controller, mechanically as well as electrically
• maintenance of the controller
• mechanical and electrical repair of the controller.
Usage
This manual should be used during
• installation and preparation work
• maintenance work
• repair work.
Who should read this manual?
This manual is intended for:
• installation personnel
• maintenance personnel
• repair personnel.
Prerequisites
A maintenance/repair/installation craftsman working with an ABB Robot must:
• be trained by ABB and have the required knowledge of mechanical and
electrical installation/repair/maintenance work.
Organization of chapters
The manual is organized in the following chapters:
ContentsChapter
Safety information that must be read through before performing
any installation or service work on the controller. Contains
general safety aspects as well as more specific information on
how to avoid personal injuries and damage to the product.
1Safety
Required information about installation of the controller. In-
cludes instructions for connections, installations of add-ons,
etc.
2Installation and Commis-
sioning
Step-by-step procedures that describe how to perform main-
tenance on the controller. Based on a maintenance schedule
that may be used to plan periodical maintenance.
3Maintenance activities
Step-by-step procedures that describe how to replace different
parts of the controller.
4Repair activities
List of hazardous materials and where they occur.5Decommissioning
Useful information when performing installation, maintenance
or repair work.
6Reference information
Lists of spare parts.7Spare parts
List of references to circuit diagrams, both for the IRC5 Com-
pact controller and other controllers and robots.
8Circuit diagram
Continues on next page
3HAC035738-001 Revision: E 7
© Copyright 2009-2013 ABB. All rights reserved.
Overview of this manual

References
Document IdReference
3HAC031403-003Circuit diagram for IRC5 Compact
3HAC021313-001Product manual - IRC5
3HAC027098-001Operating manual - Emergency safety information
3HAC16590-1Operating manual - IRC5 with FlexPendant
3HAC032104-001Operating manual - RobotStudio
3HAC027097-001Operating manual - Getting started, IRC5 and RobotStudio
3HAC020738-001Operating manual - Trouble shooting IRC5
3HAC17076-1Technical reference manual - System parameters
3HAC034095-001Application manual - DeviceNet Lean
3HAC020676-001Application manual - DeviceNet
3HAC023008-001Application manual - PROFIBUS-DP
3HAC031975-001Application manual - PROFINET master/slave
Revisions
DescriptionRevision
First edition-
Added chapter Decommissioning on page 149.A
Added section Applicable safety standards on page 152.
Added info to Storage conditions on page 37.
IRB 140 and 1410 added in section Manipulator cables on page 161.
Brake release button is only on the IRC5 Compact when it is used with IRB120.
Circuit diagram removed from manual and delivered separately.
The chapter Safety updated with:
• Updated safety signal graphics for the levels Danger and Warning, see
Safety signals in the manual on page 27.
• Revised terminology: robot replaced with manipulator when the text is
valid for other manipulators than robots, e.g. positioners.
Section Connecting a USB memory on page 74 updated with USB port on
FlexPendant.
B
New design of the front panel, including the new connectors X10, X11, X12
and X13.
Added section Installation of external terminal blocks on page 86.
Added section Vertical mounting on page 41.C
Added section Emergency stop output on page 66.
The article number for the compact flash is corrected in Main computer DSQC
639 parts on page 159.
D
The article number and designation for the encoder unit is corrected in Encoder
interface units on page 78.
E
8 3HAC035738-001 Revision: E
© Copyright 2009-2013 ABB. All rights reserved.
Overview of this manual
Continued

Product documentation, M2004
Categories for manipulator documentation
The manipulator documentation is divided into a number of categories. This listing
is based on the type of information in the documents, regardless of whether the
products are standard or optional.
All documents listed can be ordered from ABB on a DVD. The documents listed
are valid for M2004 manipulator systems.
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware will be
delivered with a Product manual that generally contains:
• Safety information.
• Installation and commissioning (descriptions of mechanical installation or
electrical connections).
•Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
• Repair (descriptions of all recommended repair procedures including spare
parts).
• Calibration.
• Decommissioning.
•Reference information (safety standards, unit conversions, screw joints, lists
of tools ).
• Spare parts list with exploded views (or references to separate spare parts
lists).
• Circuit diagrams (or references to circuit diagrams).
Technical reference manuals
The technical reference manuals describe reference information for robotics
products.
•Technical reference manual - Lubrication in gearboxes: Description of types
and volumes of lubrication for the manipulator gearboxes.
•Technical reference manual - RAPID overview: An overview of the RAPID
programming language.
•Technical reference manual - RAPID Instructions, Functions and Data types:
Description and syntax for all RAPID instructions, functions, and data types.
•Technical reference manual - RAPID kernel: A formal description of the
RAPID programming language.
•Technical reference manual - System parameters: Description of system
parameters and configuration workflows.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several
applications.
Continues on next page
3HAC035738-001 Revision: E 9
© Copyright 2009-2013 ABB. All rights reserved.
Product documentation, M2004

An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful).
•What is included (for example cables, I/O boards, RAPID instructions, system
parameters, DVD with PC software).
• How to install included or required hardware.
• How to use the application.
• Examples of how to use the application.
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and trouble shooters.
The group of manuals includes (among others):
•Operating manual - Emergency safety information
•Operating manual - General safety information
•Operating manual - Getting started, IRC5 and RobotStudio
•Operating manual - Introduction to RAPID
•Operating manual - IRC5 with FlexPendant
•Operating manual - RobotStudio
•Operating manual - Trouble shooting IRC5, for the controller and manipulator.
10 3HAC035738-001 Revision: E
© Copyright 2009-2013 ABB. All rights reserved.
Product documentation, M2004
Continued

1 Safety
1.1 Introduction to safety information
Overview
The safety information in this manual is divided in two categories:
• General safety aspects, important to attend to before performing any service
or installation work on the controller. These are applicable for all service
work and are found in section General safety information on page 12.
• Specific safety information, pointed out in the procedure at the moment of
the danger. How to avoid and eliminate the danger is either detailed directly
in the procedure, or further detailed in separate instructions, found in section
Safety related instructions on page 27.
3HAC035738-001 Revision: E 11
© Copyright 2009-2013 ABB. All rights reserved.
1 Safety
1.1 Introduction to safety information

1.2 General safety information
1.2.1 Introduction to general safety information
Definitions
This section details general safety information for personnel performing installation,
repair and maintenance work.
Sections
The general safety information is divided into the following sections.
ContainingContents
• safety, service
• limitation of liability
• related information
General information
• safety risks during installation or service
• risks associated with live electrical parts
Safety risks lists dangers relevant when
working with the product. The dangers are
split into different categories.
• fire extinguishing
• safe use of the FlexPendant
Safety actions describes actions which
may be taken to remedy or avoid dangers.
• stopping functions
• description of emergency stop
• description of safety stop
• description of safeguarding
Safety stops describes different types of
stops.
12 3HAC035738-001 Revision: E
© Copyright 2009-2013 ABB. All rights reserved.
1 Safety
1.2.1 Introduction to general safety information

1.2.2 Safety in the manipulator system
Validity and responsibility
The information does not cover how to design, install and operate a complete
system, nor does it cover all peripheral equipment that can influence the safety of
the entire system. To protect personnel, the complete system must be designed
and installed in accordance with the safety requirements set forth in the standards
and regulations of the country where the manipulator is installed.
The users of ABB industrial manipulators are responsible for ensuring that the
applicable safety laws and regulations in the country concerned are observed and
that the safety devices necessary to protect people working with the manipulator
system are designed and installed correctly. Personnel working with manipulators
must be familiar with the operation and handling of the industrial manipulator as
described in the applicable documents, for example:
•Operating manual - IRC5 with FlexPendant
•Product manual
Connection of external safety devices
Apart from the built-in safety functions, the manipulator is also supplied with an
interface for the connection of external safety devices. An external safety function
can interact with other machines and peripheral equipment via this interface. This
means that control signals can act on safety signals received from the peripheral
equipment as well as from the manipulator.
Limitation of liability
Any information given in this manual regarding safety must not be construed as a
warranty by ABB that the industrial manipulator will not cause injury or damage
even if all safety instructions are complied with.
Related information
SectionDetailed in documentType of information
Installation and
commissioning
Product manual for the manipulatorInstallation of safety devices
Operating modesOperating manual - IRC5 with FlexPend-
ant
Changing operating modes
Installation and
commissioning
Product manual for the manipulatorRestricting the working space
3HAC035738-001 Revision: E 13
© Copyright 2009-2013 ABB. All rights reserved.
1 Safety
1.2.2 Safety in the manipulator system

1.2.3 Safety risks
1.2.3.1 Risks associated with live electric parts
Voltage related risks, general
Work on the electrical equipment of the manipulator must be performed by a
qualified electrician in accordance with electrical regulations.
• Although troubleshooting may, on occasion, need to be carried out while the
power supply is turned on, the robot must be turned off (by setting the mains
switch to OFF) when repairing faults, disconnecting electric leads and
disconnecting or connecting units.
• The mains supply to the robot must be connected in such a way that it can
be turned off from outside the robot’s working space.
The necessary protection for the electrical equipment and manipulator system
during construction, commissioning, and maintenance is guaranteed if the valid
regulations are followed.
All work must be performed:
• by qualified personnel
• on machine/manipulator system in deadlock
• in an isolated state, disconnected from power supply, and protected against
reconnection
Voltage related risks, IRC5 controller
A danger of high voltage is associated with, for example, the following parts:
• Be aware of stored electrical energy (DC link, Ultracapacitor bank unit) in
the controller.
• Units such as I/O modules, can be supplied with power from an external
source.
• The mains supply/mains switch
• The transformers
• The power unit
• The control power supply (230 VAC)
• The rectifier unit (262/400-480 VAC and 400/700 VDC. Note: Capacitors!)
• The drive unit (400/700 VDC)
• The drive system power supply (230 VAC)
• The service outlets (115/230 VAC)
• The customer power supply (230 VAC)
• The power supply unit for additional tools, or special power supply units for
the machining process.
• The external voltage connected to the controller remains live even when the
robot is disconnected from the mains.
• Additional connections.
Continues on next page
14 3HAC035738-001 Revision: E
© Copyright 2009-2013 ABB. All rights reserved.
1 Safety
1.2.3.1 Risks associated with live electric parts

Voltage related risks, manipulator
A danger of high voltage is associated with the manipulator in:
• The power supply for the motors (up to 800 VDC).
• The user connections for tools or other parts of the installation (max. 230
VAC).
See chapter Installation in the product manual.
Voltage related risks, tools, material handling devices, etc.
Tools, material handling devices, etc., may be live even if the robot system is in
the OFF position. Power supply cables which are in motion during the working
process may be damaged.
3HAC035738-001 Revision: E 15
© Copyright 2009-2013 ABB. All rights reserved.
1 Safety
1.2.3.1 Risks associated with live electric parts
Continued

1.2.4 Safety actions
1.2.4.1 Fire extinguishing
Note
Use a CARBON DIOXIDE (CO2) extinguisher in the event of a fire in the
manipulator system (manipulator or controller)!
16 3HAC035738-001 Revision: E
© Copyright 2009-2013 ABB. All rights reserved.
1 Safety
1.2.4.1 Fire extinguishing

1.2.5 Safety stops
1.2.5.1 Overview of manipulator stopping functions
Overview
Stops are categorized/classified by standards IEC 60204-1:2005 and ISO
10218-1:2006.
There are several different manipulator stopping functions in the manipulator
system.
• Hardware stops connected to the run chain.
• Manual stops.
• Stop with system input signals.
• Stop with RAPID instructions.
• System failure stops.
Stop modes
Stops can be in uncontrolled or controlled mode. The stop mode is configured with
system parameters, see Soft stops on page 18.
This is related to stop category 0 as described in IEC 60204-
1:2005, which means that power is removed immediately from
the drive units, by releasing the run chain through the software
enable signal, and the brakes are activated. Also the servo
motors are used for the braking, by reversing to "generator"
and ramping down the generated power in a controlled way.
Uncontrolled stop
In this way, both the brakes and the motors are used to stop
the manipulator, giving the shortest possible stop time and
stop distance.
However, it also means that the manipulator mechanics will be
highly stressed and the manipulator will leave the programmed
path and stop at an uncontrolled position.
This is related to stop category 1 as described in IEC 60204-
1:2005. It means that the power will be connected to the drive
units for about 1 second, by a hardware delay, and the move-
ment will be put to a full stop using the servo motors before
the power is removed from the motors and the brakes are ac-
tivated.
Controlled stop
This way the manipulator will stop at a controlled point on or
very close to the programmed path. The controlled stop is also
called "soft" because it will be more soft for the mechanics,
but note, it is the same as a QuickStop when initiated via a
system input, see below.
Hardware stops connected to the run chain
There are several hardware stops available. All these stops are of safety category
3 as described in EN 13849-1, that is double channel initiated stop.
Description:Stop connections:
Disconnects drive power in all operating modes.Emergency stop
Continues on next page
3HAC035738-001 Revision: E 17
© Copyright 2009-2013 ABB. All rights reserved.
1 Safety
1.2.5.1 Overview of manipulator stopping functions

Description:Stop connections:
Disconnects drive power in automatic operating mode. To be
used as Protective stop in auto.
Automatic mode stop
Also called Safety stop.
In manual mode this input connection will be inactive.
Disconnects drive power in all operating modes. To be used
as Protective stop in all operating modes.
General stop
Also called Safety stop.
Disconnects drive power in all operating modes. To be used
as Protective stop in all operating modes.
Superior stop
(not applicable for IRC5
Compact) Also called Safety stop.
Intended for external equipment.
Soft stops
The stop mode for hardware stops is configured with system parameters, one
parameter for each stop. Each of these parameters can have the value TRUE or
FALSE (true or false). If TRUE the stop will be controlled or soft, that is category
1, if FALSE it will be uncontrolled, that is category 0, (see exception below).
Default values are TRUE for SoftAS, SoftGS, and SoftSS, and FALSE for SoftES.
The parameters are of the type Safety Run Chain in the topic Controller. The
following descriptions apply if the values are set to TRUE.
Description:Soft Stop:
Soft emergency stop is activated by pressing the emergency
stop push button on the FlexPendant or on the industrial con-
troller.
SoftES
SoftES is only used in auto. In manual mode, emergency stop
will be a category 0 stop regardless if the value is TRUE or
FALSE.
Soft automatic mode stop is intended for automatic mode
during normal program execution. This stop is activated by
safety devices such as light curtains, light beams, or sensitive
mats.
SoftAS
Soft general stop is activated by safety devices such as light
curtains, light beams, or sensitive mats.
SoftGS
Soft superior stop has the same function as a general stop but
is intended for externally connected safety devices.
SoftSS
(not applicable for IRC5
Compact)
Manual stops
A manual stop is initiated by a person. It can be a controlled or an uncontrolled
stop depending on how the stop is initiated.
Description:Manual stop:Stop mode:
This will stop program execution and
cause an immediate stop of manipulator
movements in all tasks.
Stop button on FlexPendant
or
Release of Hold-to-run function
Controlled
The manipulators will stop in a con-
trolled way and on the path with no de-
viation. This is called normal program
stop.
Continues on next page
18 3HAC035738-001 Revision: E
© Copyright 2009-2013 ABB. All rights reserved.
1 Safety
1.2.5.1 Overview of manipulator stopping functions
Continued

Description:Manual stop:Stop mode:
This will stop program execution and
stop all program movements.
Release of enabling device
or
Uncontrolled
Switching operating mode key
Stop with system input signals
In addition to the hardware stops as described above, it is also possible to define
system input signals, which will give an immediate or delayed stop of different
modes for all tasks and manipulators, when activated. Such signals are defined
as system parameters of the type System Input in the topic I/O and for the following
stop modes.
Description:Stop mode:
Stops the RAPID program execution. All manipulator move-
ments will be stopped on the path with no deviation. A program
cannot be started when this signal is high. This stop is similar
to a normal program stop using stop button on the FlexPendant.
Stop
Stops the RAPID program execution quickly, like a controlled
category 1 emergency/safety stop. This stop is performed by
ramping down motion as fast as possible using optimum motor
performance. The different axes are still coordinated to trying
to keep the manipulator on path even if it may slide off by some
millimeters. Note, this kind of stop is more stressing for the
mechanics than normal stop or SoftStop.
QuickStop
Stops the RAPID program execution much like an ordinary
program stop, but slightly faster. The stop is performed by
ramping down motion in a controlled and coordinated way, to
keep the manipulator on the programmed path with minor de-
viation. This kind of stop is more soft to the mechanics than
the QuickStop.
SoftStop
Stops the RAPID program when the complete program is ex-
ecuted, that means when the last instruction in the main routine
has been completed.
Stop at End of Cycle
Stops program execution after the current instruction is com-
pleted.
Stop at End of Instruction
All of these stops are performed without using the brakes, and the power is never
disconnected. The program execution can be continued directly, for example by
activating a start signal.
Note
Note, these stops shall not be used as safety stops, as they are not fulfilling
safety category 3.
Continues on next page
3HAC035738-001 Revision: E 19
© Copyright 2009-2013 ABB. All rights reserved.
1 Safety
1.2.5.1 Overview of manipulator stopping functions
Continued

Stop with RAPID instructions
There are several RAPID instructions available that stops the manipulator.
Arguments:Description:Instruction:
\Stop - similar to a normal program
stop with stop button.
Stops all manipulators in all tasks
immediately.
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
manipulator movements in all mo-
tion tasks. The Motors on button
must be pressed before the pro-
gram execution can be restarted.
\NoRegain - the manipulator will
not return to the stop point when
restarted, e.g. after having been
jogged away.
The current move instruction will
be finished before the manipulator
stops. A restart will continue the
program execution.
Stop
\AllMoveTasks - all manipulators
will be stopped
\Quick - the stop will be a soft stop
on path, as described above for
system input SoftStop, otherwise
similar to a normal program stop.
The current move instruction will
be stopped immediately as a nor-
mal program stop but the program
execution will continue with the
next instruction. This is often used
in for example trap routines.
StopMove
\AllMotionTasks - all manipulators
will be stopped
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
Continues on next page
20 3HAC035738-001 Revision: E
© Copyright 2009-2013 ABB. All rights reserved.
1 Safety
1.2.5.1 Overview of manipulator stopping functions
Continued