ABB Robotics OmniCore C90XT Product Manual page 107

RAPID instructions are described in Technical reference manual - RAPID
Instructions, Functions and Data types.
Other unexpected stops
Type of stop
SysFail
Power fail
Stop at collision
Stopping time/distance
Stopping time/distance for emergency stop (category 0), program stop (category1)
at max speed, max stretched out and max load, categories according to EN 60204-1.
All results are from tests on one moving axis. All stop distances are valid for floor
mounted robot, without any tilting.
For detail stopping time/distance for each robot, see Product specification Robot
stopping distances according to ISO 10218-1.
Product manual - OmniCore C90XT
3HAC073706-001 Revision: E
Description
In the control system there is a surveillance and monitoring
function that can detect abnormal situations. In such cases a
stop will be initiated. The robot controller must be restarted.
In the control system there is a monitoring function that can
detect power failure. In such cases a stop will be initiated.
In the control system there is a monitoring function that can
detect collisions. In such cases a stop will be initiated.
WARNING
Special care must be taken when restarting a machine that is
stopped due to a collision. The robot might make a limited
movement when restarted.
WARNING
The revolution counters might need to be updated after a colli-
sion to ensure path accuracy.
© Copyright 2020-2021 ABB. All rights reserved.
3 Installation and commissioning
3.5.11 Programmable stop functions
Continued
107