ABB IRC5 Product Manual page 24

1 Safety
1.2.5.1. Overview of robot stopping functions
Continued
Type of stop:
Power fail
Stop at collision
22
Description:
At power failure the robot will stop immediately, with brakes
being activated.
This is an uncontrolled stop category 0.
When a collision is detected the robot will stop immediately, with
power disconnected from the drive units and the brakes
activated.
After full stop the power is reconnected and the residual forces
are relieved by moving the robot in the reversed direction a
short distance back to its path. Then the program execution will
stop with an error message.
The robot remains in the state Motors on so that program
execution can be resumed after the collision error message has
been acknowledged.
This is an uncontrolled stop category 0.
3HAC021313-001 Revision: K