Universal Robots UR30 PolyScope X User Manual page 26

Description Depending on the circumstances, the robot can initiate three types of stop categories
defined according to IEC 60204-1. These categories are defined in the following table.
Stop
Category
0
1
2
*Universal Robots robots' Category 2 stops are further described as SS1 or as SS2 type
stops according to IEC 61800-5-2.
UR30 PolyScope X
Description
Stop the robot by immediate removal of power.
Stop the robot in an orderly, controlled manner. Power is removed once
the robot is stopped.
*Stop the robot with power available to the drives, while maintaining the
trajectory. Drive power is maintained after the robot is stopped.
26
2. Safety
User Manual