What Is A Safety Stop - ABB IRC5 Compact Product Manual

1 Safety

1.2.5.3 What is a safety stop?

1.2.5.3 What is a safety stop?
Definition of safety stops
A safety stop means that only the power to the manipulator motors is disconnected.
There is no recovery procedure. You need only to restore motor power to recover
from a safety stop. Safety stop is also called protective stop.
The manipulator system can be configured so that the stop results in either:
The default setting is controlled stop.
Controlled stops are preferred since they minimize extra, unnecessary wear on
the robot and the actions needed to return the robot system back to production.
Please consult your plant or cell documentation to see how your robot system is
configured.
Classification of stops
The safety standards that regulate automation and manipulator equipment define
categories in which each type of stop applies:
If the stop is...
uncontrolled
controlled
Type of safety stops
Safety stops are activated through special signal inputs to the controller, see
Product manual - IRC5.
The inputs are intended for safety devices such as cell doors, light curtains, or
light beams.
Safety stop:
Automatic mode stop (AS)
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• An uncontrolled stop, immediately stopping the manipulator actions by
disconnecting power from the motors.
• A controlled stop, stopping the manipulator actions with power available to
the motors so that the manipulator path can be maintained. When completed,
power is disconnected from the motors.
Note
The safety stop function may only be used for the purpose and under the
conditions for which it is intended.
Note
Safety stop should not be used for normal program stops as this causes extra,
unnecessary wear on the manipulator.
For how to perform normal program stops, see section Stopping programs in
Operating manual - IRC5 with FlexPendant.
© Copyright 2009-2013 ABB. All rights reserved.
... then it is classified as...
category 0 (zero)
category 1
Description:
Disconnects drive power in automatic mode.
In manual mode this input is inactive.
3HAC035738-001 Revision: E