Function description
System Description Service Robotics Modules
1004870-EN-05
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4.4 Protective stop function for protective stop external
The protective stop function can be triggered by various external safety devices.
The system or plant integrator is obligated to take the situations for protective stop into ac-
count in his risk analysis. The risk analysis must indicate the external safety devices that
are required. The position and wiring of the external safety devices will need to be planned
(see Planning external protective stop devices [ 75]).
The protective stop function is only effective in automatic operating mode. Triggering of the
protective stop function results in a controlled stop of the robot movement (SS1).
Triggering of the protective stop function initiates the following procedure:
Trigger
safety device
Signal at FS input
was detected
Check the current
operating mode
SS1
Manual operating mode Automatic
Fig.: SS1 through triggering of a safety device
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