Robot Stopping Functions; Protective Stop And Emergency Stop - ABB OmniCore V250XT Type B Product Manual

1.3 Robot stopping functions

1.3.1 Protective stop and emergency stop

Robot stopping functions
The robot has protective and emergency stop functions (stop category 0 or 1, in
accordance with IEC 60204-1).
Stop category 0
Stop category 1
A stop function, protective or emergency stop, has a default setting for the stop
category, see
The default stop category for a protective or emergency stop can be re-configured.
Activation of external safety rated devices, connected to the robot controller through
dedicated discrete safety inputs or safety protocols, will initiate these stop functions.
Inputs to initiate a protective stop or an emergency stop
Inputs to initiate a stop
function
Emergency Stop (ES)
Automatic Stop (AS)
General Stop (GS)
For example, a safety rated output from a presence sensing device, connected to
AS / GS, a dedicated discrete protective stop input on the robot controller, will
when the protective stop function is configured as Automatic Stop (AS) initiate the
protective stop function in automatic mode only.
Product manual - OmniCore V250XT Type B
3HAC087112-001 Revision: A
Inputs to initiate a protective stop or an emergency stop on page
Description
Input to initiate the emergency
stop function. The Emergency
Stop function is initiated in both
automatic and manual mode.
Input to initiate the protective
stop function. Automatic Stop is
only initiated in automatic mode.
Input to initiate the protective
stop function. General Stop is
initiated in both manual mode
and automatic mode.
Note
For OmniCore, the default configuration for the protective stop function triggered
by the protective stop input is Automatic Stop.
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1.3.1 Protective stop and emergency stop
As defined in IEC 60204-1, stopping by immediate removal of
power to the machine actuators.
As defined in IEC 60204-1, a controlled stop with power avail-
able to the machine actuators to achieve the stop and then re-
moval of power when the stop is achieved.
1 Safety
Default stop Stop category
category reconfigurable
Stop category 0 Yes
For deviations,
see the product
manual for the
manipulator.
Stop category 1 Yes
For deviations,
see the product
manual for the
manipulator.
Stop category 1 Yes
For deviations,
see the product
manual for the
manipulator.
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