ABB CRB 15000, Product Manual, Page: 28 / 1096

1.3 Robot stopping functions
Protective stop and emergency stop
The protective stops and emergency stops are described in the product manual
for the controller.
For more information see:
• Product manual - OmniCore C30
Reasons for selection of stops in CRB 15000
For nearly all safety functions in CRB 15000, a category 1 stop is defined.
Exceptions are only allowed:
• When there is a technical fault in the system, or
• If the standstill supervision (category 2 stop) condition is violated. This is
required by ISO 10218-1 §5.5.3.
Category 1 stops are used otherwise because:
• Stopping using the motor produces repeatable stopping distances (no
variation of brake friction coefficient).
• Stopping using the motor produces the shortest stopping distance without
any risk of overloading structural components (pre-defined braking torque,
no delay).
• Stopping using the motor saves on brake wear, so that the brake can perform
its primary (holding) function for longer.
• An off-path category 1 stop is best suited to Power and Force Limiting : it
stops as fast as possible and does not try to maintain the path, so minimizing
the forces applied by the robot.
Because of these reasons, the end user/system integrator should always use a
category 1 stop for CRB 15000
Safety Functions in the application risk assessment.
28 Product manual - CRB 15000
3HAC077389-001 Revision: L
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1 Safety
1.3 Robot stopping functions