Stopping the robot

There are 4 ways to stop the robot. These differ in how the movement should be continued:

• Stop and abort program processing (RESET input at the KRC_AutomaticExternal function block)
• Stop and delete the buffered instructions (KRC_Abort)
• Stop and wait for a condition, then continue and execute the buffered instructions (KRC_DeclareInterrupt)
• Stop and wait for the function block KRC_Continue, then continue and execute the buffered instructions (KRC_Interrupt)