ABB IRC5 Product Manual page 22

1 Safety
1.2.5.1. Overview of robot stopping functions
Continued
System failure stops
Type of stop:
SysFail
Power fail
Stop at collision
20
Description:
At system failure raising a SysFail error the robot will stop imme-
diately, with brakes being activated.
This is an uncontrolled stop category 0.
At power failure the robot will stop immediately, with brakes
being activated.
This is an uncontrolled stop category 0.
When a collision is detected the robot will stop immediately, with
power disconnected from the drive units and the brakes
activated.
After full stop the power is reconnected and the residual forces
are relieved by moving the robot in the reversed direction a
short distance back to its path. Then the program execution will
stop with an error message.
The robot remains in the state Motors on so that program
execution can be resumed after the collision error message has
been acknowledged.
This is an uncontrolled stop category 0.
3HAC027707-001 Revision: D