Robot Stopping Functions - ABB CRB 15000 Product Manual

1 Safety

1.3 Robot stopping functions

1.3 Robot stopping functions
Protective stop and emergency stop
The protective stops and emergency stops are described in the product manual
for the controller.
For more information see:
Reasons for selection of stops in CRB 15000
For nearly all safety functions in CRB 15000, a category 1 stop is defined.
Exceptions are only allowed:
Category 1 stops are used otherwise because:
Because of these reasons, the end user/system integrator should always use a
category 1 stop for CRB 15000 Safety Functions in the application risk assessment.
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• Product manual - OmniCore C30
• When there is a technical fault in the system, or
• If the standstill supervision (category 2 stop) condition is violated. This is
required by ISO 10218-1 §5.5.3.
• Stopping using the motor produces repeatable stopping distances (no
variation of brake friction coefficient).
• Stopping using the motor produces the shortest stopping distance without
any risk of overloading structural components (pre-defined braking torque,
no delay).
• Stopping using the motor saves on brake wear, so that the brake can perform
its primary (holding) function for longer.
• An off-path category 1 stop is best suited to Power and Force Limiting: it
stops as fast as possible and does not try to maintain the path, so minimizing
the forces applied by the robot.
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Product manual - CRB 15000
3HAC077389-001 Revision: L