What Is An Emergency Stop - ABB IRC5 Product Manual

1.2.5.2. What is an emergency stop?

Definition of emergency stop
An emergency stop is a state that overrides any other robot control, disconnects drive power
from the robot motors, stops all moving parts, and disconnects power from any potentially
dangerous functions controlled by the robot system.
An emergency stop state means that all power is disconnected from the robot except for the
manual brake release circuits. You must perform a recovery procedure in order to return to
normal operation.
The robot system can be configured so that the emergency stop results in either:
The default setting is uncontrolled stop. However, controlled stops are preferred since they
minimize extra, unnecessary wear on the robot and the actions needed to return the robot
system back to production. Please consult your plant or cell documentation to see how your
robot system is configured.
NOTE!
The emergency stop function may only be used for the purpose and under the conditions for
which it is intended.
NOTE!
The emergency stop function is intended for immediately stopping equipment in the event of
an emergency.
NOTE!
Emergency stop should not be used for normal program stops as this causes extra,
unnecessary wear on the robot. How to perform normal program stops, see
programs.
Classification of stops
The safety standards that regulates automation and robot equipment defines categories in
which each type of stop applies:
If the stop is...
uncontrolled
controlled
Emergency stop devices
In a robot system there are several emergency stop devices that can be operated in order to
achieve an emergency stop. There are emergency stop buttons available on the FlexPendant
and on the controller cabinet (on the Control Module on a Dual Cabinet Controller). There
can also be other types of emergency stops on your robot, consult your plant or cell
documentation to see how your robot system is configured.
3HAC027707-001 Revision: D
• An uncontrolled stop, immediately stopping the robot actions by disconnecting power
from the motors.
• A controlled stop, stopping the robot actions with power available to the motors so that
the robot path can be maintained. When completed, power is disconnected.
... then it is classified as...
category 0 (zero)
category 1
1.2.5.2. What is an emergency stop?
Stopping
1 Safety
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