Robot Stopping Functions; Protective Stop And Emergency Stop - ABB Robotics OmniCore C90XT Product Manual

1 Safety

1.3.1 Protective stop and emergency stop

1.3 Robot stopping functions

1.3.1 Protective stop and emergency stop
Robot stopping functions
The robot has an emergency stop function and at least one protective stop function.
These functions have provision for the connection of external emergency stops
and protective devices.
The emergency stop function is a complementary protective measure and shall
not be applied as a substitute for safeguarding measures or safety functions.
The stop categories can be re-configured as defined by standards EN ISO
10218-1:2011 and IEC 60204-1:2016.
Emergency stop and protective stop functions are activated through dedicated
safety inputs or safety protocols.
For example, an output from a safety rated presence sensing device output can
be connected to a safety input on the robot controller. This is to initiate a protective
stop of the robot.
Stop categories
Stop category 0
Stop category 1
Stop category 2
Safety inputs to initiate a protective stop or an emergency stop
Protective stop and emergency stop inputs will initiate a stop, selectable of category
0 or category 1.
Safety inputs to initiate a
stop
Emergency stop (ES)
Protective Stop configured
as Automatic stop (AS)
Protective Stop configured
as General Stop (GS)
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Note
For OmniCore, a safety input that is initiated must remain active for at least 100
ms.
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As defined in IEC 60204-1, stopping by immediate removal of
power to the machine actuators.
As defined in IEC 60204-1, a controlled stop with power avail-
able to the machine actuators to achieve the stop and then re-
moval of power when the stop is achieved.
As defined in IEC 60204-1, a controlled stop with power remain-
ing available to the machine actuators.
Description
The Emergency Stop is operational in both automatic and
manual mode.
The default configuration is stop category 0. For deviations,
see the product manual for the manipulator.
The safety input Automatic Stop is only operational in automatic
mode.
The default configuration is stop category 1.
The safety input General Stop is operational in both manual
mode and automatic mode.
The default configuration is stop category 1.
Product manual - OmniCore C90XT
3HAC073706-001 Revision: E