What Is A Safety Stop - ABB IRC5 Product Manual

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.
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.
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) Disconnects drive power in automatic mode.
General stop (GS)
Superior stop (SS)
3HAC021313-001 Revision: P
• 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.
... then it is classified as...
category 0 (zero)
category 1
Description:
In manual mode this input is inactive.
Disconnects drive power in all operating modes.
Disconnects drive power in all operating modes.
Intended for external equipment.
1 Safety
1.2.5.3. What is a safety stop?
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