ABB IRB 140 Product Manual page 35

Classification of stops
The safety standards that regulate automation and manipulator equipment define
categories in which each type of stop applies:
If the stop is...
uncontrolled
controlled
Emergency stop devices
In a manipulator 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 manipulator. Consult your plant or cell documentation to see how your
manipulator system is configured.
3HAC027400-001 Revision: K
... then it is classified as...
category 0 (zero)
category 1
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1.2.5.1 What is an emergency stop?
1 Safety
Continued
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