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Stop Category 0: Robot motion is stopped by immediate removal of power to the robot. It is an
uncontrolled stop, where the robot can deviate from the programmed path as each joint
brake as fast as possible. This protective stop is used if a safety-related limit is exceeded
or in case of a fault in the safety-related parts of the control system. For more information,
see ISO 13850 or IEC 60204-1.
Stop Category 1: Robot motion is stopped with power available to the robot to achieve the stop
and then removal of power when the stop is achieved. It is a controlled stop, where the
robot will continue along the programmed path. Power is removed as soon as the robot
stands still. For more information, see ISO 13850 or IEC 60204-1.
Stop Category 2: A controlled stop with power left available to the robot. The safety-related
control system monitors that the robot stays at the stop position. For more information,
see IEC 60204-1.
Category 3: The term Category should not be confused with the term Stop Category. Category
refers to the type of architecture used as basis for a certain Performance Level. A significant
property of a Category 3 architecture is that a single fault cannot lead to loss of the safety
function. For more information, see ISO 13849-1.
Performance Level: A Performance Level (PL) is a discrete level used to specify the ability of
safety-related parts of control systems to perform a safety functions under foreseeable con-
ditions. PLd is the second highest reliability classification, meaning that the safety function
is extremely reliable. For more information, see ISO 13849-1.
Diagnostic coverage (DC): is a measure of the effectiveness of the diagnostics implemented to
achieve the rated performance level. For more information, see ISO 13849-1.
MTTFd: The Mean time to dangerous failure (MTTFd) is a value based on calculations and tests
used to achieve the rated performance level. For more information, see ISO 13849-1.
Integrator: The integrator is the entity that designs the final robot installation. The integrator is
responsible for making the final risk assessment and must ensure that the final installation
complies with local laws and regulations.
Risk assessment: A risk assessment is the overall process of identifying all risks and reducing
them to an appropriate level. A risk assessment should be documented. Consult ISO 12100
for further information.
Collaborative robot application: The term collaborative refers to collaboration between operator and
robot in a robot application. See precise definitions and descriptions in ISO 10218-1 and
ISO 10218-2.
Safety configuration: Safety-related functions and interfaces are configurable through safety con-
figuration parameters. These are defined through the software interface, see part II.
Version 3.11
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