# StopMove Delay

**URL:** <https://tech-community.robotics.abb.com/t/stopmove-delay/7177>\
**Category:** RobotStudio\
**Tags:** stopmove, delay\
**Created:** [May 23, 2016, 2:19pm UTC](https://tech-community.robotics.abb.com/t/stopmove-delay/7177 "2016-05-23T14:19:24Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![bartvanessen](https://avatars.discourse-cdn.com/v4/letter/b/ccd318/32.png) [@bartvanessen](https://tech-community.robotics.abb.com/u/bartvanessen)\
**Post date:** [May 23, 2016, 2:19pm UTC](https://tech-community.robotics.abb.com/t/stopmove-delay/7177/1 "2016-05-23T14:19:24Z")

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Hello There,  
I am currently trying to Stop Robot moving, using an external PLC.  
unfortunatelly, when i use the StopMove \Quick command it results in a 0.3 seconds delay between execution of the command line and stop of the robot. (tested with a new program)  
Is there a way to stop the robot in a faster way?  
kind regards  
Bart

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**Author:** ![SteveMob](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/stevemob/32/1600_2.png) [@SteveMob](https://tech-community.robotics.abb.com/u/SteveMob)\
**Post date:** [May 23, 2016, 3:24pm UTC](https://tech-community.robotics.abb.com/t/stopmove-delay/7177/2 "2016-05-23T15:24:21Z")

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You could wire in the stop button on the PLC to your E-Stop on the robot controller and that would stop it pretty quick. Unfortunately doing it that way engages the brakes I believe, which would in the long run wear out the brakes faster…

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**Author:** ![bartvanessen](https://avatars.discourse-cdn.com/v4/letter/b/ccd318/32.png) [@bartvanessen](https://tech-community.robotics.abb.com/u/bartvanessen)\
**Post date:** [May 24, 2016, 8:18am UTC](https://tech-community.robotics.abb.com/t/stopmove-delay/7177/3 "2016-05-24T08:18:54Z")

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Unfortunatelly, I need a temporary Stop of the Robot,  
It should continue it’s path automatically as soon as the “button” is released.

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**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [May 24, 2016, 8:45am UTC](https://tech-community.robotics.abb.com/t/stopmove-delay/7177/4 "2016-05-24T08:45:35Z")

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If you are using Fieldbus communication between the PLC and controller some of the delay could be communications delay?

You could try using digital I/O, and the system input quickstop (could also try it via the Fieldbus communications).

Use the system input Start to restart the program.

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**Author:** ![bartvanessen](https://avatars.discourse-cdn.com/v4/letter/b/ccd318/32.png) [@bartvanessen](https://tech-community.robotics.abb.com/u/bartvanessen)\
**Post date:** [May 24, 2016, 10:36am UTC](https://tech-community.robotics.abb.com/t/stopmove-delay/7177/5 "2016-05-24T10:36:16Z")

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Thanks for your help,  
can you tell me, in what documents i can find the required information?

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**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [May 25, 2016, 1:03am UTC](https://tech-community.robotics.abb.com/t/stopmove-delay/7177/6 "2016-05-25T01:03:23Z")

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System inputs and outputs are covered in the Technical reference manual - system parameters