ABB IRC5 Compact Product Manual page 18

1 Safety
1.2.5.1 Overview of manipulator stopping functions
Continued
Stop connections:
Automatic mode stop
General stop
Superior stop
(not applicable for IRC5
Compact)
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
(not applicable for IRC5
Compact)
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
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18
Description:
Disconnects drive power in automatic operating mode. To be
used as Protective stop in auto.
Also called Safety stop.
In manual mode this input connection will be inactive.
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 equipment.
Description:
Soft emergency stop is activated by pressing the emergency
stop push button on the FlexPendant or on the industrial con-
troller.
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 function
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Description:
This will stop program execution and
cause an immediate stop of manipulator
movements in all tasks.
The manipulators will stop in a con-
trolled way and on the path with no de-
viation. This is called normal program
stop.
3HAC035738-001 Revision: E