EN UG-020 Link 6 user guide r1.0 53
SF01 Emergency stop
What does SF01 monitor?
SF01 monitors external emergency signals from the Safety I/Os to the robot. It initiates a stop
category 1, which stops the movement of the robot before removing power from the arm.
Cause of the trigger
• The E-stopbutton is pressed on the teach pendant.
• A signal is detected on the input reserved for emergency stops.
Remedy
1. Make sure that it is safe to resume operation of the robot.
2. Tap CLEAR FAULT in the Robot control panel to remove the signal.
3. Reset the e-stop button by turning the button.
4. Switch the arm on.
Related topics
State: Fault on page 98
List of safety functions on page 52
Status of safety functions on page 222
SF02 Protective stop
What does SF02 monitor?
SF02 monitors protective stop signals sent to the robot. Protective stops interrupt the robot
motion, but it does not remove power from the robot. It is a stop category 2.
Cause of the trigger #1
Internal processes of the main processing unit (MPU) are avoiding a category 0 stop before safety
thresholds are exceeded.
Remedy for trigger #1
Tap Diagnostics > Notifications or tap > VIEW ALL to identify the cause of the protective stop.
Cause of the trigger #2
External devices assigned as protective stops on the Safety I/Os page.
Remedy for trigger #2
Ensure the signal of the specific I/O channel is off by sending a Protective Stop Reset signal. For
example, switch off the light curtain signal, close a door linked with this specific signal, and so
on.
Related topics
Safety I/O on page 78
List of safety functions on page 52
Status of safety functions on page 222
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