Function description
System Description Service Robotics Modules
1004870-EN-05
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4.3 Emergency stop function
The emergency stop function can be triggered by
} The emergency stop pushbutton on the teach pendant
} An external emergency stop pushbutton
The system or plant integrator is obligated to take the situations for emergency stop into ac-
count in his risk analysis. If the risk analysis shows that an additional emergency stop push-
button is needed in addition to the emergency stop pushbutton on the teach pendant, i.e.
an external emergency stop pushbutton, then its position and wiring will need to be planned
(see Planning an external emergency stop device [ 74]).
Triggering of the emergency stop function results in a controlled stop of the robot move-
ment (SS1).
Triggering of the emergency stop function initiates the following procedure:
Operate emergency
stop pushbutton
Teach pendant
Operate emergency
stop pushbutton
External emergency stop
pushbutton
Emergency stop
pushbutton operated
Operated emergency stop
pushbutton was detected
SS1
Operated emergency stop
pushbutton was detected
Fig.: SS1 through operation of an emergency stop pushbutton
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