1.3 Robot stopping functions
Protective stop and emergency stop
The protective stops and emergency stops are described in the product manual
for the controller.
For more information see:
• Product manual - OmniCore C30
• Product manual - OmniCore C90XT
• Product manual - OmniCore E10
Reasons for selection of emergency stop category in IRB 1300-12/1.4
The emergency stop shall function either as a category 0 stop or as a category 1
stop. The selection of the emergency stop category depends on the risk assessment
results of the robot.
For emergency stop in IRB 1300-12/1.4, a category 1 stop is defined as default.
Exceptions are only allowed when there is a technical fault in the system.
Category 1 emergency stop is used otherwise because:
• Stopping using the motor produces repeatable stopping distances (no
variation of brake friction coefficient).
• Stopping using the motor produces the shortest stopping distance without
any risk of overloading structural components (pre-defined braking torque,
no delay), and, minimizes the forces applied by robot.
• Stopping using the motor saves on brake wear, so that the brake can perform
its primary (holding) function for longer.
Because of these reasons, the end user/system integrator should always use a
category 1 emergency stop for IRB 1300-12/1.4 in the application risk assessment,
with category 0 emergency stop still being configurable in settings of external/local
emergency stop.
Product manual - IRB 1300 25
3HAC070390-001 Revision: G
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1 Safety
1.3 Robot stopping functions
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