Basic Characteristics RAPID

deceleration path will not follow the programmed path. This stop method is, for
example, used for search stop when it is important to stop the motion as soon as
possible.
3. For a quick-stop the mechanical brakes are used to achieve a deceleration distance,
which is as short as specified for safety reasons. The path deviation will usually be
bigger for a quick-stop than for a stiff stop.
After a stop (any of the types above) a restart can always be made on the interrupted
path. If the robot has stopped outside the programmed path, the restart will begin with
a return to the position on the path, where the robot should have stopped.
A restart following a power failure is equivalent to a restart after a quick-stop. It should
be noted that the robot will always return to the path before the interrupted program
operation is restarted, even in cases when the power failure occurred while a logical
instruction was running. When restarting, all times are counted from the beginning; for
example, positioning on time or an interruption in the instruction WaitTime.
2.8 Related information
Described in:
Definition of speed Data Types - speeddata
Definition of zones (corner paths) Data Types - zonedata
Instruction for joint interpolation Instructions - MoveJ
Instruction for linear interpolation Instructions - MoveL
Instruction for circular interpolation Instructions - MoveC
Instruction for modified interpolation Instructions - SingArea
Singularity Motion and I/O Principles- Singularity
Concurrent program execution Motion and I/O Principles-
Syncronization with logical
instructions
6-26 RAPID Reference Manual