ABB IRC5P, Product Manual, Page: 74 / 220

5 Installation and Commissioning
5.4 Robot Safety System Connections
74 3HNA009834-001 en Rev.06 Product Manual, Control Cabinet IRC5P
WARNING!
It is the full responsibility of the user to make sure that all entrances to
the working area of the robot are protected by Auto Mode Stop switches. This is
essential to prevent personnel from entering the working area of the robot while the
robot is in operating mode (Auto).
General Mode Stop
(Category 0)
Operating General Mode Stop will stop the robot and remove electric power from
the axis motors the same way as when breaking the emergency stop chain. The
difference between using the emergency stop and the general mode stop function is
that reset signal is not required to reset the stop condition. Power must be re-applied
to the axis motors by activating Motor On on the main panel or from an external
panel or PLC.
The General Mode Stop function is normally used in more complex installations
where the robot emergency stop system is integrated with the factory emergency
stop system.
• To install the General Mode Stop function, remove two jumpers (for chain 1 and
2) and install a 2 pole switch at terminals marked ‘General Mode Stop’ in
connector SCB-X2 pin 1-4 as shown in Figure 29 and in principle diagram in
Figure 32 . The switch must be of a type which will be closed when activated.
The switch must comply with ’Safety System Standards’ on page 65.
Delayed Stop
(Category 1)
Delayed Stop is a Category 1 stop, and is a controlled stop function which will
allow the robot control system to stop the motion of the robot while the robot is
running in the programmed path. After a category 1 stop, the robot can be re-started
and operation resumed after the cause for the stop has been removed. Stopping the
robot by category 1 stop will cause the robot to stop immediately and power to be
removed after 2 seconds.
Delayed Stop is typically used to protect entrance doors located at a distance from
the robot and conveyor or used in conjunction with plant emergency stops not
directly involving the robot operation.
WARNING!
Emergency Stop Category 1 (delayed stop) must not be used as a
convenient substitute for emergency stop category 0 (general mode stop) where
emergency stop directly involves people getting in contact with the robot and
conveyor operation.
• To install the Delayed Stop function, remove two jumpers (for chain 1 and 2) and
install a 2 pole switch at terminals marked ‘Delayed Stop’ in connector SCB-X2
pin 5-8 as shown in Figure 29 and in principle diagram in Figure 32 . The switch
must be of a type which will be closed when activated (spray booth door closed
etc.). The switch must comply with ’Safety System Standards’ on page 65.