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2. Protective stop: The protective stop is a stop type triggered when the robot controller detects an error.
Users can trigger the configuration via the SI interface on the control cabinet panel P8, and the safety IO and
safety plane function in the safety settings.
When the robot is in the protective stop state, its states are as follows:
2.4 Three-Position Enable Device (Optional)
JAKA robot support a three-position enable function, which can be used in conjunction with external three-
position enable device. The standard product delivery of JAKA robot does not include this device. The three-
position enabling safety input interface is available for users and the design meets the certification requirements.
For this optional device, please contact the authorized integrator of JAKA.
When you use three-position enable device and configure the corresponding function in the software, the robot
can only be moved and controlled after the three-position switch is pressed.
The corresponding robot control states for different states of the three-position switch are as follows:
Switch state
1
Unpressed
2
Pressed lightly
3
Pressed heavily
The schematic diagram of the three-position enabling switch is as follows:
Figure 2-1 Schematic diagram of the three-position enabling switch
File Version: 3.2
Brake state
Robot movement state
Joint motor state
Robot power
Program execution
Brake state
Robot state
Protective stop (Cat. 2)
Normal
Protective stop (Cat. 2)
Braking status
Protective stop
Stop
Enabled
On
Paused
Release status
Manual control
(JOG, debugging)
Prohibited
Started
Prohibited
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Automatic
(program operation)
When an operation program
is started, the three-position
enabling
function
switched off.
JAKA C Series Hardware User Manual
control
is
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