ABB OmniCore E10 Product Manual

3.5.10 Programmable stop functionsStopping functionsThere are different methods to stop the robot, in addition to manually initiatedstops.• Stop with system input signals• Stop with RAPID instructions• Other stopsStop with system input signalsIn the control system, it is possible to define system input signals to be set/resetthrough different interactions, for example, through I/O signals. See Applicationmanual - Controller software OmniCore.The RAPID program cannot be started when any of the system input signals ishigh.DescriptionPre-defined system inputThe RAPID program execution is stopped, and the manipulatoris stopped on path with no deviation. This stop is similar to anormal program stop using stop button on the FlexPendant.SoftStopThis is a faster stop of the manipulator than SoftStop. This stopis more stressing for the mechanics than SoftStop, thereforethere might be a deviation on path.QuickStopStops the RAPID program when the complete program is ex-ecuted, that means when the last instruction in the main routinehas been completed.Stop at End of CycleStops program execution after the current instruction is com-pleted.Stop at End of InstructionAll of these stops are performed without using the brakes, and the power is neverdisconnected. The program execution can be continued directly, for example byactivating a start signal if the stop signal is set low.NoteOnly safety rated input signals are allowed to be used for safety.Continues on next pageProduct manual - OmniCore E10 993HAC079399-001 Revision: C© Copyright 2019-2022 ABB. All rights reserved.3 Installation and commissioning3.5.10 Programmable stop functions