在ABB機(jī)器人編程中，大家常用的停止程序執(zhí)行的指令為stop，不過在RAPID語言中還有很多中停止方式，下面將做介紹：

1.指令SystemStopAction立即停止所有任務(wù)中的所有機(jī)器人

\Stop; 類似于通過停止按鈕實(shí)現(xiàn) 的正常程序停止

\StopBlock：如上所述，但要重 新啟動，必須移動PP

\Halt：這類似于類別0 停止，即 引發(fā)電動機(jī)關(guān)閉狀態(tài)、程序執(zhí)行和 所有運(yùn)動任務(wù)中機(jī)器人運(yùn)動的停止。 在重新啟動程序執(zhí)行之前，必須按 下電機(jī)啟動按鈕

2.指令Stop當(dāng)前移動指令在機(jī)器人停止前完成。 重新啟動將繼續(xù)程序執(zhí)行

\NoRegain：重新啟動時(shí)（比如在 點(diǎn)動之后），機(jī)器人不會返回停止點(diǎn)

\AllMoveTasks：所有機(jī)器人都會 停止

3.指令 StopMove 在軟停止時(shí)，當(dāng)前移動指令會立即 停止，但程序會繼續(xù)執(zhí)行下一個指 令。 它經(jīng)常用于示例陷阱程序

\AllMotionTasks：所有機(jī)器人 都會停止

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
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