Safeguarded Space Stop Signals; Delayed Safeguarded Space Stop; Available Voltage; I/O Supply - ABB IRB 6400R Product On-Line Manual

Installation and Commissioning

3.12 Safeguarded space stop signals

According to the safety standard ISO/DIS 11161 "Industrial automation systems - safety
of integrated manufacturing systems - Basic requirements", there are two categories of
safety stops, category 0 and category 1, see below:
The category 0 stop is to be used when, for safety analysis purposes, the power supply to the
motors must be switched off immediately, such as when a light curtain, used to protect against
entry into the work cell, is passed. This uncontrolled motion stop may require special restart
routines if the programmed path changes as a result of the stop.
Category 1 is to be preferred, if accepted for safety analysis purposes, such as when gates
are used to protect against entry into the work cell. This controlled motion stop takes place
within the programmed path, which makes restarting easier.

3.12.1 Delayed safeguarded space stop

All the robot's safety stops are as default category 0 stops.
Safety stops of category 1 can be obtained by activating the delayed safeguarded space
stop together with AS or GS. A delayed stop gives a smooth stop. The robot stops in the
same way as a normal program stop with no deviation from the programmed path. After
approx. 1 second the power supply to the motors is shut off. The function is activated by
setting a parameter, see User's Guide, section System Parameters, Topic: Controller.
Note! To ensure MOTORS OFF status, the activating switch must be kept open for
more than one second. If the switch is closed within the delay, the robot stops and will
remain in MOTORS ON mode.

3.13 Available voltage

3.13.1 24 V I/O supply
The robot has a 24 V supply available for external and internal use.
This voltage is used in the robot for supplying the drive unit fans and the manipulator
brakes.
The 24 V I/O is not galvanically separated from the rest of the controller voltages.
Technical data
Voltage
Ripple
Permitted customer load
Current limit
Short-circuit current
Product Manual IRB 6400R
24.0 - 26.4 V
Max. 0.2 V
Max. 6 A (7.5 A if DSQC 374)
Max. 18 A (12 A if DSQC 374)
Max. 13 A (average value)(~ 0 A if DSQC 374)
Connecting Signals
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