ABB IRB 2000, Product Manual

Page: 126 / 270

3.5
Safely stopsignals
According to safety standards, such as ISO/DIS 11161 "Industrial automation systems -
safety of integrated manufacturing systems - Basic requirements" there are two
categories of safety stops as follows:
Category 0 stops shall be used when a safety analyze requires immediate removal of
power, e.g. when light curtains are used as entrance protection. The uncontrolled
movement stop may need special restart action due to possible deviation from the
programmed path.
Category 1 is preferred, when acceptable in a safety analyze e.g. when gates are used
as entrance protection, since the controlled movement stop within the programmed
path simplifies restart.
In the S3 control system all safety stops are of category 0.
A category 1 safety stop is achieved by using the HOLD 1,2 function together with AS
orGS.
3.5.1
Category 1 safety stop (soft stop)
HOLD 1 and HOLD 2 connected to gate closed contacts supplied by 24V will at contact
opening order PROG STOP and short there after two relay contacts are opened. These
relay contacts can be connected in any of the MOTOR ON / OFF user switch positions.
AS or GS are preferred.
24V C7
— - © -
24V ^V D7
o - ^ o—
PROG STOP
•o—o-
0V
C8
-oC9
0V
D8
o
,D9
User's connector: XS3 or XT3
Signal name Terminal Note
HOLD 1 C7
HOLD 11 C8
HOLD 12 C9
HOLD 2 D7
HOLD 21 D8
HOLD 22 D9
Technical data.
Delay time 1.5 sec
(24V from control system)
Signal class Control signals
Note. To resume program running after interrupt by HOLD 1,2, gate contacts should be closed.
Then by setting AUTO INPUT (see chapter3.10.4), the robot will go to MOTOR ON
automatically followed by PROG START.
INSTALLATION S3
3:12