ABB IRC5P, Product Manual, Page: 75 / 220

5 Installation and Commissioning
Product Manual, Control Cabinet IRC5P 3HNA009834-001 en Rev.06 75
5.4 Robot Safety System Connections
Test Mode Stop
Category 0)
The test mode stop may be used to implement an enabling device in series with the
enabling device on the pendant. If used, both this enabling device and the enabling
device on the pendant must be operated to be able to apply power to the axis motors.
The enabling device function is only functioning in Manual Reduced Speed /
mode and Manual High Speed / mode. The extra enabling device may be used
as an extra safety function during programming and test. The device must be
designed in the same way as the device on the pendant, i.e. the handle must be held
in center position to be activated. Releasing the device or pressing too hard will
operate the stop function.
• To install the extra enabling device, remove two jumpers (for chain 1 and 2) and
install a 2 pole switch at terminals marked ‘Test Mode Stop’ in connector
SCB-X1 pin 9-12 as shown in Figure 29 and in principle diagram in Figure 32 .
The switch must be of a type which will open when not activated (released or
pressed too hard). The switch must comply with ’Safety System Standards’ on
page 65.
The enabling device must comply with EN ISO 10218-1, 6.4.6.
Important:
These connection points are not Ex protected. If used in a hazardous
area, the enabling device must fulfill the requirements for such use.
Hardware Motor On
Hardware Motor-on is the signal which will apply power to the robot when all
conditions for starting the robot are correct. In Automatic / mode, the signal is
applied by pressing the motor-on button on the main control panel, but the signal
may also be applied from an external control desk or PLC etc. In Manual Reduced
Speed / mode and Manual High Speed / mode, the motor-on signal is
applied by activating the enabling device on the pendant. The power will remain
‘on’ until the enabling device is released or pressed too hard.
Software Motor On
The software motor-on function is used to apply power to the robot from the
pendant or external control systems etc. As a part of the total safety concept, a
precondition for applying power by this function is that hardware motor-on has been
activated. An attempt to apply power to the robot from the pendant without having
activated the hardware motor-on will result in a warning message. Software will
always switch off this signal when hardware is not allowing motor-on.