Safety Stops; Overview Of Manipulator Stopping Functions - ABB IRC5 Compact Product Manual

1.2.5 Safety stops

1.2.5.1 Overview of manipulator stopping functions

Overview
Stops are categorized/classified by standards IEC 60204-1:2005 and ISO
10218-1:2006.
There are several different manipulator stopping functions in the manipulator
system.
Stop modes
Stops can be in uncontrolled or controlled mode. The stop mode is configured with
system parameters, see
Uncontrolled stop
Controlled stop
Hardware stops connected to the run chain
There are several hardware stops available. All these stops are of safety category
3 as described in EN 13849-1, that is double channel initiated stop.
Stop connections:
Emergency stop
3HAC035738-001 Revision: E
• Hardware stops connected to the run chain.
• Manual stops.
• Stop with system input signals.
• Stop with RAPID instructions.
• System failure stops.
Soft stops on page
This is related to stop category 0 as described in IEC 60204-
1:2005, which means that power is removed immediately from
the drive units, by releasing the run chain through the software
enable signal, and the brakes are activated. Also the servo
motors are used for the braking, by reversing to "generator"
and ramping down the generated power in a controlled way.
In this way, both the brakes and the motors are used to stop
the manipulator, giving the shortest possible stop time and
stop distance.
However, it also means that the manipulator mechanics will be
highly stressed and the manipulator will leave the programmed
path and stop at an uncontrolled position.
This is related to stop category 1 as described in IEC 60204-
1:2005. It means that the power will be connected to the drive
units for about 1 second, by a hardware delay, and the move-
ment will be put to a full stop using the servo motors before
the power is removed from the motors and the brakes are ac-
tivated.
This way the manipulator will stop at a controlled point on or
very close to the programmed path. The controlled stop is also
called "soft" because it will be more soft for the mechanics,
but note, it is the same as a QuickStop when initiated via a
system input, see below.
Description:
Disconnects drive power in all operating modes.
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1.2.5.1 Overview of manipulator stopping functions
18.
1 Safety
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