ABB IRC5 User Manual

1 Safety
1.2.5.1. Overview of robot stopping functions
193HAC021313-001 Revision: K
© Copyright 2004-2008 ABB. All rights reserved.
Soft stops
The stop mode for hardware stops is configured with system parameters, one parameter for
each stop. Each of these parameters can have the value TRUE or FALSE (true or false). If
TRUE the stop will be controlled or soft, that is category 1, if FALSE it will be uncontrolled,
that is category 0, (see exception below). Default values are TRUE for SoftAS, SoftGS, and
SoftSS, and FALSE for SoftES. The parameters are of the type Safety Run Chain in the topic
Controller. The following descriptions apply if the values are set to TRUE.
Manual stops
A manual stop is initiated by a person. It can be a controlled or an uncontrolled stop
depending on how the stop is initiated.
General stop Disconnects drive power in all operating modes. To be used as
"Protective stop" in all operating modes.
Also called "Safety stop".
Superior stop Disconnects drive power in all operating modes. To be used as
"Protective stop" in all operating modes.
Also called "Safety stop".
Intended for external equipments.
Stop connections: Description:
Soft Stop: Description:
SoftES Soft emergency stop is activated by pressing the emergency
stop push button on the FlexPendant or the control module.
SoftES is only used in auto. In manual mode, emergency stop
will be a category 0 stop regardless if the value is TRUE or
FALSE.
SoftAS Soft automatic mode stop is intended for automatic mode during
normal program execution. This stop is activated by safety
devices such as light curtains, light beams, or sensitive mats.
SoftGS Soft general stop is activated by safety devices such as light
curtains, light beams, or sensitive mats.
SoftSS Soft superior stop has the same function as a general stop but
is intended for externally connected safety devices.
Stop mode: Manual stop: Description:
Controlled Stop button on FlexPendant
or
Release of Hold-to-run button
This will stop program execution and
cause an immediate stop of robot
movements in all tasks.
The robots will stop in a controlled way
and on the path with no deviation. This
is called "normal progam stop".
Uncontrolled Release of enabling device
or
Switching operating mode key
This will stop program execution and
stop all program movements.
Continued
Continues on next page

ABB IRC5 Specifications

General

Brand	ABB
Model	IRC5
Category	Controller
Language	English