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1.5 Safety stops
1.5.1. What is an emergency stop?
Definition of emergency stop
An emergency stop is a state that overrides any other manipulator control, disconnects drive
power from the manipulator motors, stops all moving parts, and disconnects power from any
potentially dangerous functions controlled by the manipulator system.
An emergency stop state means that all power is disconnected from the manipulator except
for the manual brake release circuits. You must perform a recovery procedure, i.e, resetting
the emergency stop button and pressing the Motors On button, in order to return to normal
operation.
The manipulator 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 manipulator and the actions needed to return the
manipulator system back to production. Please consult your plant or cell documentation to
see how your manipulator 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 manipulator.
Classification of stops
The safety standards that regulates automation and manipulator equipment defines categories
in which each type of stop applies:
If the stop is...
uncontrolled
3HAW050027150 Revision: C
•
An uncontrolled stop, immediately stopping the manipulator actions by disconnecting
power from the motors.
•
A controlled stop, stopping the manipulator actions with power available to the motors
so that the manipulator path can be maintained. When completed, power is
disconnected.
controlled
1.5.1. What is an emergency stop?
then it is classified as...
category 0 (zero)
category 1
1 Safety
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