5.5 - Robot stopping functions

Last edit: 11/07/2023

Every robots shall have a protective stop function and an indipendent emergency stop function. These functions shall have provision for the connection of external protective devices.

Usually, robots should have two stop modes:

1. Emergency Stop Mode: if the robot receives the stop command in this mode, it stops immediately, with no possibility of restarting it as long as it receives the signal;
2. Gates Mode: the robot receives the signal from the interlocks, usually placed on the entrances to the robotic area. If the robot is stopped in Gates Mode, the robot can still be moved by means of the relevant handheld hand control but under safe conditions (operator in a safe position or at limited speed and by means of maintained action commands).

In addition, any controller and/or handheld hand control with which the robot can be moved or cause a dangerous situation must be equipped with a manually operated emergency stop function that:

  • Has priority over all other robot control modes
  • Causes all hazardous parts in the area to stop
  • Removes power from the robot’s actuator drives
  • Remains active until it is reset