Soft Stops; Manual Stops - ABB IRC5 Product Manual

Stop connections:
General stop
Superior stop

Soft stops

The stop mode for hardware stops is configured with system parameters, one parameter for
each stop. Each of these parameters can have the value TRUE or FALSE (true or false). If
TRUE the stop will be controlled or soft, that is category 1, if FALSE it will be uncontrolled,
that is category 0, (see exception below). Default values are TRUE for SoftAS, SoftGS, and
SoftSS, and FALSE for SoftES. The parameters are of the type Safety Run Chain in the topic
Controller. The following descriptions apply if the values are set to TRUE.
Soft Stop:
SoftES
SoftAS
SoftGS
SoftSS

Manual stops

A manual stop is initiated by a person. It can be a controlled or an uncontrolled stop
depending on how the stop is initiated.
Stop mode:
Controlled
Uncontrolled
3HAC021313-001 Revision: K
1.2.5.1. Overview of robot stopping functions
Description:
Disconnects drive power in all operating modes. To be used as
"Protective stop" in all operating modes.
Also called "Safety stop".
Disconnects drive power in all operating modes. To be used as
"Protective stop" in all operating modes.
Also called "Safety stop".
Intended for external equipments.
Description:
Soft emergency stop is activated by pressing the emergency
stop push button on the FlexPendant or the control module.
SoftES is only used in auto. In manual mode, emergency stop
will be a category 0 stop regardless if the value is TRUE or
FALSE.
Soft automatic mode stop is intended for automatic mode during
normal program execution. This stop is activated by safety
devices such as light curtains, light beams, or sensitive mats.
Soft general stop is activated by safety devices such as light
curtains, light beams, or sensitive mats.
Soft superior stop has the same function as a general stop but
is intended for externally connected safety devices.
Manual stop:
Stop button on FlexPendant
or
Release of Hold-to-run button
Release of enabling device
or
Switching operating mode key
Description:
This will stop program execution and
cause an immediate stop of robot
movements in all tasks.
The robots will stop in a controlled way
and on the path with no deviation. This
is called "normal progam stop".
This will stop program execution and
stop all program movements.
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