# Robotprogram still running while E-stop is pushed in

**URL:** <https://tech-community.robotics.abb.com/t/robotprogram-still-running-while-e-stop-is-pushed-in/8135>\
**Category:** Robot Controller\
**Created:** [March 14, 2018, 2:24pm UTC](https://tech-community.robotics.abb.com/t/robotprogram-still-running-while-e-stop-is-pushed-in/8135 "2018-03-14T14:24:46Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![Arnou](https://avatars.discourse-cdn.com/v4/letter/a/41988e/32.png) [@Arnou](https://tech-community.robotics.abb.com/u/Arnou)\
**Post date:** [March 14, 2018, 2:24pm UTC](https://tech-community.robotics.abb.com/t/robotprogram-still-running-while-e-stop-is-pushed-in/8135/1 "2018-03-14T14:24:46Z")

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Hello

I have this strange error occurring to me today. The robot was running fine until I had a joint collision, the tool got stuck a little bit, nothing major, no damage occurred. I wanted to stop the robot so I could manually jog it out of the way. However the robotprogram got stuck running, switched to manual, remained running.  
I tried pushing the stop button and the E-stop, but the program kept running. Restarting the controller was also impossible due to this. Only thing I could do is cut the power.

 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/0/01a683fff45de929e2d4f3811a1c1338893cde7c.png)

When starting the robot again, it still did some weird things, but then I could actually restart it from the flexpendant.  
Now everything returned to normal.  
Does anyone have an idea how I got into this situation and how to avoid it?

Thanks in advance

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**Author:** ![Micky](https://avatars.discourse-cdn.com/v4/letter/m/a5b964/32.png) [@Micky](https://tech-community.robotics.abb.com/u/Micky)\
**Post date:** [March 14, 2018, 6:05pm UTC](https://tech-community.robotics.abb.com/t/robotprogram-still-running-while-e-stop-is-pushed-in/8135/2 "2018-03-14T18:05:55Z")

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Hi,

do you use a system event routine for program stop or quick stop, which waits until an condition is fulfilled?

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**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [March 14, 2018, 6:27pm UTC](https://tech-community.robotics.abb.com/t/robotprogram-still-running-while-e-stop-is-pushed-in/8135/3 "2018-03-14T18:27:57Z")

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I have seen that a few years’ back. My issue was being caused by the PLC constantly sending system inputs to the robot to Start, motors on , etc. It would cause the controller to lock up in that state. Do you see in your event log a bunch of motor on rejected, start rejected preceding the lockup?

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**Author:** ![Arnou](https://avatars.discourse-cdn.com/v4/letter/a/41988e/32.png) [@Arnou](https://tech-community.robotics.abb.com/u/Arnou)\
**Post date:** [March 15, 2018, 7:22am UTC](https://tech-community.robotics.abb.com/t/robotprogram-still-running-while-e-stop-is-pushed-in/8135/4 "2018-03-15T07:22:10Z")

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The event logs doesn’t show anything being rejected at that time, just a bunch of messages of the collision I had, but nothing rejected.  
I don’t have any routine linked to a program stop or quick stop. I have a 1 second interrupt routine that has no waits and a power-on routine to define WZ, so no waits here to.