Protective Stop And Emergency Stop - ABB IRC5 Product Manual

1.1.3 Protective stop and emergency stop

Overview
Protective stops and emergency stops are defined by standards IEC 60204-1:2005
and EN ISO 10218-1:2011.
Stops can be in category 0 or category 1.
Stop category 0
Stop category 1
Inputs to initiate a protective stop or an emergency stop
There are several safety inputs available to initiate a protective stop or an
emergency stop. All these safety inputs are of structure category 3 as described
in EN ISO 13849-1.
These safety inputs will initiate a stop of category 0 or category 1.
Safety inputs to initiate a
stop
Protective stop in automat-
ic mode
Protective stop in automat-
ic and manual mode
Emergency stop
To modify the configuration of the stop category, see Technical reference
manual - System parameters.
Protective stop
Protective stops are activated through the dedicated safety inputs Automatic Stop,
General Stop, and Superior Stop, on the controller. For example, the protective
inputs are connected to safety outputs of presence sensing devices. This is to
provide safeguarding.
See Installation and commissioning in the product manual for the robot controller.
Product manual - IRC5
3HAC047136-001 Revision: M
As defined in IEC 60204, stopping by immediate removal of
power to the machine actuators (i.e. an uncontrolled stop. In
IRC5 this is implemented by removing power immediately in
the drive units.
As defined in IEC 60204, a controlled stop with power available
to the machine actuators to achieve the stop and then removal
of power when the stop is achieved. In IRC5 this is implemented
by removing power in the drive units after about 1 second using
the servos to stop the machine.
Description
The safety input Automatic Stop is only operational in automatic
mode.
The default configuration is stop category 1.
There are two safety inputs to initiate a protective stop in both
automatic and manual mode. It is the safety input General Stop
and the safety input Superior Stop.
The default configuration is stop category 1.
The Emergency Stop is operational in both automatic and
manual mode.
The default configuration is stop category 0.
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1.1.3 Protective stop and emergency stop
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