Universal Robots UR3e

2.10.1. Stop Categories
Description Depending on the circumstances, the robot can initiate three types of stop categories
defined according to IEC 60204-1. These categories are defined in the following table.
Stop
Category
Description
0 Stop the robot by immediate removal of power.
1
Stop the robot in an orderly, controlled manner. Power is removed
once the robot is stopped.
2
*Stop the robot with power available to the drives, while maintaining
the trajectory. Drive power is maintained after the robot is stopped.
*Universal Robots robots’ Category 2 stops are further described as SS1 or as SS2
type stops according to IEC 61800-5-2.
User Manual 29 UR3e
2.Safety
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