In ABB robot programming, the commonly used instruction to stop program execution is stop. However, there are many stopping methods in RAPID language. The following will introduce them:
1. Command SystemStoppAction to immediately stop all robots in all tasks
\Stop; Similar to a normal program stop achieved through a stop button
\StopBlock: As mentioned above, but to restart, PP must be moved
\Halt: This is similar to category 0 stop, which triggers the motor shutdown state, program execution, and the cessation of robot motion in all motion tasks. Before restarting the program, the motor start button must be pressed
2. Command Stop: The current movement command is completed before the robot stops. Restarting will continue program execution
\NoRegion: When restarting (such as after jogging), the robot will not return to the stop point
\AllMoveTasks: All robots will stop
3.When the instruction StopMove is soft stopped, the current move instruction will immediately stop, but the program will continue to execute the next instruction. It is often used in example trap programs
\AllMotionTasks: All robots will stop
4.When the command BREAK stops the normal program, the current move command and program execution will immediately stop. Restarting will continue program execution
5. The command Exit will immediately stop the current move command and program execution when the normal program stops. After stopping, the “program pointer” must be reset to Main
6. The command ExitCycle will immediately stop the current move command and program execution. The program pointer will be reset to Main, and if the running mode is continuous, the program will restart.
