Emergency Stop; Emergency Button; Collision Checking - Elephant Robotics myCobot Pro 600 User Manual

1.7 Emergency stop

This section describes two types of emergency stop for robots:
 If you feel abnormal during the robot's motion, immediately press the
emergency stop switch.
When the force generated by the collision of the robot with the person

or object is greater than the threshold, the robot detects the force
generated by the collision, thereby stopping or moving to a certain
position (collision return).

1.7.1 Emergency button

When the emergency stop button on the teach pendant is pressed, the drive
will be stopped, the brake will start, the motor power will be turned off, and the
electromagnetic brake will stop the robot's inertial motion, the robot will stop all
motion, the program running in OS will also be stopped.
However, during normal operation, do not press the emergency stop switch
at will. If the emergency stop switch is pressed during the operation, the robot
movement trajectory before stopping will be different from the trajectory during
normal operation and may hit a peripheral device or the like.
When it is in an emergency stop state (normal), if the robot system is to be
placed in an emergency stop state, press the emergency stop switch when the
robot does not operate.
Before using the emergency stop switch, you need to know the followings:
 The emergency stop (E-STOP) switch can only be used to stop the robot
in an emergency.
 To stop the robot running the program in a non-emergency situation, use
the Pause or STOP command. The Pause and STOP commands will not
turn off the motor. Therefore, the brake will not work.
 If user need to control the emergency stop of the robot and other
equipment at the same time, you can use the external E-STOP double
loop circuit (user need to short it when not in use).

1.7.2 Collision checking

During the operation of the robot, it is possible to touch people or objects. It
can be protected by setting a protection threshold. The specific operation mode is
as follows: When the force generated by the collision of the robot with the person
or the object is greater than the threshold, the robot detects the force generated by
the collision, thereby stopping or moving to a certain position (collision return).
Please note that when the protection threshold is set too high, a large force
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