Which method is better to stop a robot and why? Pressing the STEP button or HOLD button? Or does it matter?
Robot Stop
- bobguard76
- Thread is Unresolved
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Depends. What is your reason for stopping? Safety, debugging, preventing a crash?
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It is a welding cell, and I stop the program in mid-cycle to teach a certain weld. So doing so, which is better for the robot and servos? I personally use the HOLD button.
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In that situation it really doesn't matter. You aren't going to hurt it by pressing hold. Step may be convenient to stop it on an exact motion, but either way is fine.
If you have to stop it in this place frequently then you may consider adding a wait instruction with a register.
: Wait (R[1]=0);
Then anytime you want it to stop at that point you just change the register value to anything other than 0.
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I've had plenty of people with the habit of flipping the teach pendant enable switch to ON as well. Hasn't seemed to hurt anything.
Normally though, if I know I'm going to be touching up something and with having the experience - I usually background edit in a pause or a wait (as HawkME suggested).
I think it also comes down to whatever is most convenient as well. And to be perfectly clear...we're talking about stopping the robot in a NON-Safety related way!
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