1.2.5 Safety stops1.2.5.1 What is an emergency stop?Definition of emergency stopAn emergency stop is a state that takes precedence over all other robot controls,causes all controlled hazards to stop, removes drive power from the robot actuators,remains active until it is reset, and can only be reset by manual action.An emergency stop state means that all power is disconnected from the robotexcept for the manual brake release circuits. You must perform a recoveryprocedure, that is, resetting the emergency stop button and pressing the MotorsOn button, to return to normal operation.The robot system can be configured so that the emergency stop results in either:• A category 0 stop, immediately stopping the robot actions by disconnectingpower from the motors.• A category 1 stop, stopping the robot actions with power available to themotors so that the robot path can be maintained. When completed, poweris disconnected from the motors.The default setting is a category 0 stop. However, category 1 stops are preferredsince they minimize unnecessary wear on the robot and the actions needed toreturn the system back to production. Consult your plant or cell documentation tosee how your robot system is configured.NoteThe emergency stop function may only be used for the purpose and under theconditions for which it is intended.NoteThe emergency stop function is intended for immediately stopping equipmentin the event of an emergency.NoteEmergency stop should not be used for normal program stops as this causesextra, unnecessary wear on the robot.For how to perform normal program stops, see .Classification of stopsThe safety standards that regulate automation and robot equipment definecategories in which each type of stop applies:... then it is classified as...If the stop is...uncontrolledcategory 0 (zero)controlledcategory 1Continues on next page40 Product manual - IRB 26003HAC035504-001 Revision: G© Copyright 2009-2015 ABB. All rights reserved.1 Safety1.2.5.1 What is an emergency stop?
