1.2.5 Safety stops1.2.5.1 What is an emergency stop?Definition of emergency stopAn emergency stop is a state that overrides any other manipulator control,disconnects drive power from the manipulator motors, stops all moving parts, anddisconnects power from any potentially dangerous functions controlled by themanipulator system.An emergency stop state means that all power is disconnected from the manipulatorexcept for the manual brake release circuits. You must perform a recoveryprocedure, i.e, resetting the emergency stop button and pressing the Motors Onbutton, in order to return to normal operation.The manipulator system can be configured so that the emergency stop results ineither:• An uncontrolled stop, immediately stopping the manipulator actions bydisconnecting power from the motors.• A controlled stop, stopping the manipulator actions with power available tothe motors so that the manipulator path can be maintained. When completed,power is disconnected from the motors.The default setting is an uncontrolled stop. However, controlled stops are preferredsince they minimize extra, unnecessary wear on the manipulator and the actionsneeded to return the manipulator system back to production. Please consult yourplant or cell documentation to see how your manipulator 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 manipulator.For how to perform normal program stops, see section Stopping programs inOperating manual - IRC5 with FlexPendant.Continues on next page34 3HAC044266-001 Revision: -© Copyright 2013 ABB. All rights reserved.1 Safety1.2.5.1 What is an emergency stop?
