5 Installation and Commissioning
5.4 Robot Safety System Connections
68 3HNA009834-001 en Rev.06 Product Manual, Control Cabinet IRC5P
section ’External Emergency Stop (Category 0)’ on page 70. This type of
emergency stop is included in the emergency stop chain and is typically used in
a simple robot installation.
The emergency stop chain can also be implemented in the plant’s emergency
stop chain. For information on this connection, see ’Emergency Stop Feedback’
on page 71.
3. Install Auto Mode Stop (Category 0) switch to prevent people from entering the
robot working area while the robot is in operation. For connection information,
see section ’Auto Mode Stop (Category 0)’ on page 73.
4. If the Robot’s emergency stop system is to be implemented in the plant’s
emergency stop system, General Mode Stop (Category 0) or Delayed Stop
(Category 1) in the Run Chain may be used instead of the ‘normal’ Emergency
Stop function. For information on this connection, see section ’General Mode
Stop (Category 0)’ on page 74, alternatively ’Delayed Stop (Category 1)’ on
page 74.
5. If required, install External Emergency Stop Reset Button(s) or connect reset
input to the plants emergency stop system controller. For information on these
connections, see section ’Emergency Stop Reset’ on page 70.
6. If required, implement an Extra Enabling Device in addition to the enabling
device on the pendant. For information, see section ’Test Mode Stop
Category 0)’ on page 75.
7. If required, install Cabin Safety Switches. These functions can be used to
disable functions such as fluid pumps, spray-gun, bell, electrostatic high
voltage etc. for safety reasons. For information on these connections, see
section ’Cabin Safety System Connections’ on page 78.
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