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In ABB robot programming, the RAPID language provides multiple methods for stopping program execution, each suitable for different scenarios. The following are the main stop commands and their functions:
1. SystemStopAction
-Function: Immediately stop all robot movements in tasks, equivalent to pressing the emergency stop button.
-Features :
-Stop all tasks
-Need to manually restart the robot
2. StopBlock
-Function: Similar to ‘SystemStopAction’, but after program execution stops, the program pointer (PP) needs to be manually moved to restart.
— Features:
-Suitable for situations that require stricter control over program execution
-Need to move PP to continue execution
3. Halt
-Function: Stop program execution and turn off the robot motor.
— Features :
-Need to press the motor start button before continuing
-Suitable for situations where the robot needs to be completely stopped
4. Stop
-Function: Stop the program after the current move command is executed, and it can continue to run when restarted.
-Features :
\ NoResume option: The robot will not return to the stop point when restarted
\ AllMoveTasks option: All robots will stop
5. StopMove
-Function: The current move instruction immediately stops, but the program continues to execute the next instruction.
-Features :
-Suitable for exception handling or security mechanisms
-Usually used for  example trap routine
6. Break
-Function: Immediately stop the current movement command and program execution.
-Features :
-After restarting, the program can continue to execute
7. Exit
-Function: Immediately stop the current move command and program execution, and manually reset the program pointer (PP) to the ‘Main’ position.
— Features :
-Applicable to situations where the program is forcibly exited
8. ExitCycle
-Function: Immediately stop the current move command and program execution, and automatically reset PP to the ‘Main’ position.
— Features :
-In Continuous Mode, the program will automatically restart
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Summary