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

1 Safety

1.2.5.1. Overview of manipulator stopping functions

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 954-1 or EN 13849-1, that is double channel initiated stop.
Stop connections:
Emergency stop
Automatic mode stop
18
• 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
movement will be put to a full stop using the servo motors before
the power is removed and the brakes are activated.
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.
Disconnects drive power in automatic operating mode. To be
used as Protective stop in auto.
Also called Safety stop.
In manual mode this input connection will be inactive.
19.
Continues on next page
3HAC021313-001 Revision: P