5 Installation and Commissioning
Product Manual, Control Cabinet IRC5P 3HNA009834-001 en Rev.06 65
5.4 Robot Safety System Connections
5.4.2 Safety System Standards
General Normal emergency stop standards require 2 different activities to be performed to
re-establish running mode after an emergency stop situation:
• The activated emergency stop switch must be manually released.
• Power must be re-applied to the robot’s axis motors.
The Safety Chains There are 2 safety chains in the system; the emergency stop chain and the run chain.
The Emergency Stop Chain includes the main panel emergency stop button, the
pendant emergency stop button and possibly one or more external emergency stop
buttons. All stops are category 0 stops.
The Run Chain includes auto mode stop, test mode stop, general mode stop and
delayed stop. All stops except delayed stop (category 1) are category 0 stops.
Emergency Stop Reset The emergency stop chain needs a reset signal to be applied after an emergency
stop. If the robot includes a control panel, this reset signal will be applied
automatically when pressing the Motor On button. If the panel is not available, an
external reset signal must be applied after breaking the emergency stop chain before
motor power can be re-applied.
The run chain does not require a reset signal.
Emergency Stop
Category 0
Emergency Stop Category 0 stops the robot by immediate removal of power to the
axis motors and activating the axis brakes. Different types of emergency stop
category 0 are available; External Emergency Stop, General Mode Stop and Auto
Mode Stop. Which type to use must be based on risk analyses for the installation.
WARNING! Emergency Stop Category 0 must not be used as a convenient way to
stop the robot in situations which are not emergency situations. Using emergency
stop category 0 will remove motor power and activate the axis brakes instantly,
causing unnecessary wear of the brake disks (depending on the speed of the robot
when the stop occurs).
Note: The axis brakes are primarily designed for holding the robot in position when
idle. The brakes are certified for 300 stops performed with category 0 stop before
worn to an extent where they can no longer hold the robot in position.
Important: Warranty claim will not be accepted for a damaged motor if the failure is
caused by excessively worn brake.
Emergency Stop
Category 1
Emergency Stop Category 1 is a controlled stop function which will allow the robot
control system to stop the motion of the robot while the robot is running in the
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