ABB OmniCore E10 Product Manual

1.3 Robot stopping functions1.3.1 Protective stop and emergency stopRobot stopping functionsThe robot has protective and emergency stop functions (stop category 0 or 1, inaccordance with IEC 60204-1).As defined in IEC 60204-1, stopping by immediate removal ofpower to the machine actuators.Stop category 0As defined in IEC 60204-1, a controlled stop with power avail-able to the machine actuators to achieve the stop and then re-moval of power when the stop is achieved.Stop category 1A stop function, protective or emergency stop, has a default setting for the stopcategory, see Inputs to initiate a protective stop or an emergency stop on page 20.The default stop category for a protective or emergency stop can be re-configured.Activation of external safety rated devices, connected to the robot controller throughdedicated discrete safety inputs or safety protocols, will initiate these stop functions.Inputs to initiate a protective stop or an emergency stopStop category recon-figurable Y/NDefault stop categoryDescriptionInputs to initiate astop functionYStop category 0Input to initiate theemergency stop func-tion. The EmergencyStop function is initi-ated in both automaticand manual mode.Emergency Stop (ES)For deviations, seethe product manualfor the manipulator.YStop category 1Input to initiate theprotective stop func-tion. The protectivestop function caneither be configuredas Automatic Stop(AS) or General Stop(GS). AutomaticStop(AS) is only initi-ated in automaticmode. GeneralStop(GS) is initiatedin both manual modeand automatic mode.Automatic Stop(AS)/General Stop(GS)NoteThe default configuration for the protective stop function triggered by theprotective stop input is Automatic Stop.For example, a safety rated output from a presence sensing device, connected toAS / GS, a dedicated discrete protective stop input on the robot controller, willwhen the protective stop function is configured as Automatic Stop (AS) initiate theprotective stop function in automatic mode only.Continues on next page20 Product manual - OmniCore E103HAC079399-001 Revision: C© Copyright 2019-2022 ABB. All rights reserved.1 Safety1.3.1 Protective stop and emergency stop