Robot Stopping Functions; Protective Stop And Emergency Stop - ABB IRC5 Product Manual

1.3 Robot stopping functions

1.3.1 Protective stop and emergency stop

Robot stopping functions
The robot has protective and emergency stop functions (stop category 0 or 1, in
accordance with IEC 60204-1).
Stop category 0
Stop category 1
A stop function, protective or emergency stop, has a default setting for the stop
category, see
The default stop category for a protective or emergency stop can be re-configured.
Activation of external safety rated devices, connected to the robot controller through
dedicated discrete safety inputs or safety protocols, will initiate these stop functions.
Inputs to initiate a protective stop or an emergency stop
Inputs to initiate a stop
function
Emergency Stop (ES)
Automatic Stop (AS)
General Stop (GS)
Superior Stop (SS)
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Product manual - IRC5 Panel Mounted Controller
3HAC047137-001 Revision: AB
As defined in IEC 60204-1, stopping by immediate removal of
power to the machine actuators.
As defined in IEC 60204-1, a controlled stop with power avail-
able to the machine actuators to achieve the stop and then re-
moval of power when the stop is achieved.
Inputs to initiate a protective stop or an emergency stop on page
Description
Input to initiate the emergency
stop function. The Emergency
Stop function is initiated in both
automatic and manual mode.
Input to initiate the protective
stop function Automatic Stop.
The Automatic Stop function is
only initiated in automatic mode.
Input to initiate the protective
stop function General Stop. The
General Stop function is initiated
in both manual mode and auto-
matic mode.
Inputs to initiate the protective
stop function. The protective
stop function can be configured
as Automatic Stop or General
Stop. Automatic Stop is only ini-
tiated in automatic mode. Gener-
al Stop is initiated in both manu-
al mode and automatic mode.
Input to initiate the superior stop
function. The Superior Stop
function is initiated in both
manual mode and automatic
mode.
Depending on controller variant, there can be one or two inputs for the protective stop function.
See the product manual for the robot controller.
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1.3.1 Protective stop and emergency stop
Default stop
category
Stop category 0
For deviations,
see the product
manual for the
manipulator.
Stop category 1
Stop category 1
Stop category 1
For deviations,
see the product
manuals for the
controller and
the manipulat-
or.
i
Stop category 1
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1 Safety
27.
Stop category
reconfigurable
Yes
Yes
Yes
Yes
Yes
27