Pilz PRBT 6 - Overview of Robot Stop Reactions

Function description
System Description Service Robotics Modules
1004870-EN-05
| 23
4.2 Overview of stop reactions
The table below shows the triggers for stop reactions, depending on the selected operating
mode. The stop categories conform to the definition in EN 60204.
Trigger Manual operating modes Automatic mode
Emergency stop due to
} Operation of emergency stop
pushbutton on teach pendant
} Operation of external emer-
gency stop pushbutton
Controlled stop (stop cat-
egory 1)
Controlled stop (stop cat-
egory 1)
See Emergency stop function [ 25]
Protective stop stop due to
} Opening of safety gate
} etc.
- - - Controlled stop (stop cat-
egory 1)
see Protective stop function for protective stop
external [ 27] and
Protective stop function for PSENmlock (safety gate
function) [ 29]
Switching operating mode
(key switch on teach pendant)
Controlled stop (stop cat-
egory 1)
Controlled stop (stop cat-
egory 1)
See Changing the operating mode and motion
enable [ 57]
Releasing enabling switch
(teach pendant)
Controlled stop (stop cat-
egory 1)
- - -
See Enabling function [ 32]
Stop button operated (teach
pendant)
- - - Controlled stop of robot
movement
See Controlling the robot program in the operating
mode "Automatic" with teach pendant [ 61]
Stop due to external stop signal
(e.g. higher level control system)
- - - Controlled stop of robot
movement
See Controlling the robot program in the operating
mode "Automatic" with external controller [ 62]
Enabling switch on teach
pendant held at panic position
Controlled stop (stop cat-
egory 1)
- - -
See Enabling function [ 32]