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).
As defined in IEC 60204-1, stopping by immediate removal of
power to the machine actuators.
Stop category 0
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.
Stop category 1
A stop function, protective or emergency stop, has a default setting for the stop
category, see Inputs to initiate a protective stop or an emergency stop on page 23.
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
Stop category recon-
figurable Y/N
Default stop categoryDescriptionInputs to initiate a
stop function
YStop category 0Input to initiate the
emergency stop func-
tion. The Emergency
Stop function is initi-
ated in both automatic
and manual mode.
Emergency Stop (ES)
For deviations, see
the product manual
for the manipulator.
YStop category 1Input to initiate the
protective stop func-
tion. The protective
stop function can
either be configured
as Automatic Stop
(AS) or General Stop
(GS). Automatic
Stop(AS) is only initi-
ated in automatic
mode. General
Stop(GS) is initiated
in both manual mode
and automatic mode.
Automatic Stop
(AS)/General Stop
(GS)
Note
The default configuration for the protective stop function triggered by the
protective stop input is Automatic Stop.
For example, a safety rated output from a presence sensing device, connected to
AS / GS, a dedicated discrete protective stop input on the robot controller, will
when the protective stop function is configured as Automatic Stop (AS) initiate the
protective stop function in automatic mode only.
Continues on next page
Product manual - OmniCore C30 23
3HAC060860-001 Revision: P
© Copyright 2019-2022 ABB. All rights reserved.
1 Safety
1.3.1 Protective stop and emergency stop
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