FlexPendant Operators Manual 3HAC16590 ... - Technology

1 Safety1.3.4. What is an emergency stop?1.3.4. What is an emergency stop?Definition of emergency stopAn emergency stop is a state that overrides any other robot control, disconnects drive powerfrom the robot’s motors, stops all moving parts and disconnects power from any potentiallydangerous functions controlled by the robot system.An emergency stop state means that all power is disconnected from the robot except for themanual brake release circuits. You must perform a recovery procedure in order to return tonormal operation.The robot system can be configured so that the state results in either:• an uncontrolled stop, immediately stopping the robot’s action by disconnecting powerfrom its motors• a controlled stop, stopping the robot’s action with power available to its motors so thatthe robot path can be maintained. When completed, power is disconnected.Controlled stops are preferred since it minimizes the actions needed to return the robot systemback to production. Please consult your plant or cell documentation to see how your robotsystem is configured.Classification of stopsThe safety standards that regulates automation and robot equipment defines categories inwhich each type of stop applies:If the stop is.....then it is classified as...uncontrolledcategory 0 (zero)controlled category 1Emergency stop devicesIn a robot system there are several emergency stop devices that can be operated in order toachieve an emergency stop. There are emergency stop buttons available on the FlexPendantand on the control module. There can also be other types of emergency stops on your robot,consult your plant or cell documentation to see how your robot system is configured.223HAC 16590-1 Revision: B