ABB OmniCore V400XT, Руководство по эксплуатации продукта

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1.3 Robot stopping functions
1.3.1 Protective stop and emergency stop
Robot stopping functions
The robot has protective and emergency stop functions (stop category 0 or 1, in
accordance with IEC 60204-1).
As defined in IEC 60204-1, stopping by immediate removal of
power to the machine actuators. Stop category 0
As 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 1
A stop function, protective or emergency stop, has a default setting for the stop
category, see
Inputs to initiate a protective stop or an emergency stop on page 21 .
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 through
dedicated discrete safety inputs or safety protocols, will initiate these stop functions.
Inputs to initiate a protective stop or an emergency stop
Stop category
reconfigurable Default stop
category Description Inputs to initiate a stop
function
Yes Stop category 0 Input to initiate the emergency
stop function. The
Emergency
Stop function is initiated in both
automatic and manual mode.
Emergency Stop (ES)
For deviations,
see the product
manual for the
manipulator.
Yes Stop category 1 Input to initiate the protective
stop function.
Automatic Stop is
only initiated in automatic mode.
Automatic Stop (AS)
For deviations,
see the product
manual for the
manipulator.
Yes Stop category 1 Input to initiate the protective
stop function.
General Stop is
initiated in both manual mode
and automatic mode.
General Stop (GS)
For deviations,
see the product
manual for the
manipulator.
Note
For OmniCore, the default configuration for the protective stop function triggered
by the protective stop input is
Automatic Stop .
For example, a safety rated output from a presence sensing device, connected to
AS / GS, a dedicated discrete protective stop input on the robot controller, will
when the protective stop function is configured as Automatic Stop (AS) initiate the
protective stop function in automatic mode only.
Continues on next page
Product manual - OmniCore V400XT 21
3HAC081697-001 Revision: A
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1 Safety
1.3.1 Protective stop and emergency stop