Stop Category 0 following IEC 60204-1 (Power-off Stop) Servo power is

turned off, and the robot stops immediately. Servo power is turned off when
the robot is moving, and the motion path of the deceleration is uncontrolled.
“Stop Category 0” performs following processing. • An alarm is generated,
and then the servo power turns off. Instantly the robot stops. • Execution of
the program is paused. Frequent Category 0 Stop of the robot during
operation can cause mechanical problems of the robot. Avoid system
designs that require routine or frequent Category 0 Stop conditions. Stop
Category 1 following IEC 60204-1 (Controlled Stop, Smooth Stop) The robot
is decelerated until it stops, and servo power is turned off. “Stop Category
1” performs following processing. • The alarm "SRVO-199 Controlled stop" or
"SRVO-289 Smooth Stop" occurs along with a decelerated stop. The program
execution is paused. • An alarm is generated, and then the servo power
turns off. In Smooth stop, the robot decelerates until it stops with the
deceleration time shorter than Controlled stop. The stop type of Stop
Category 1 is different according to the robot model or option configuration.
Please refer to the operator's manual of a particular robot model. Stop
Category 2 following IEC 60204-1 (Hold) The robot is decelerated until it
stops, and servo power remains on. “Stop Category 2” performs following
processing. • The robot operation is decelerated until it stops. Execution of
the program is paused. WARNING 1 The stopping distance and time of Stop
Category 1 are longer than those of Stop Category 0. A risk assessment for
the whole robot system which takes into consideration the increased
stopping distance and stopping time is necessary when Stop Category 1 is
used. Please refer to the operator's manual of a particular robot model for
the data of stopping distance and time. 2 In multi arm system, the longest
stopping distance and time of Stop Category 1 among each robot are
adopted as those for the system. A risk assessment for the whole robot
system which takes into consideration a possibility that the stopping
distance and time increase, is necessary on the multi arm system. 3 In the
system which has extended axis, the longer stopping distance and time of
Stop Category 1 among robot and extended axis are adopted as those for
the system. A risk assessment for the whole robot system which takes into
consideration a possibility that the stopping distance and time increase, is
necessary on the system which has extended axis. Please refer to the
extended axis setup procedure of the controller operator’s manual for
considering the stopping distance and time of the extended axis. 4 When
Stop Category 1 occurs during deceleration by Stop Category 2, the stop
type of robot is changed to Stop Category 0. 5 In case of Stop Category 1,
motor power shutdown is delayed for a maximum of 2 seconds. In this case,
a risk assessment for the whole robot system is necessary, including the 2
seconds delay. When the emergency stop button is pressed or the FENCE is
open, the stop type of robot is Stop Category 0 or Stop Category 1. The
configuration of stop type for each situation is called stop pattern. The stop
pattern is different according to the option configuration

The stop type of DCS Position and Speed Check functions is not affected by
the loading of this option. "All Smooth Stop Function" option When "All
Smooth Stop Function" (A05B-2670-J651) option is specified, the stop type
of the following alarms becomes Stop Category 1 in all operation modes
(AUTO, T1 and T2 mode). Alarm Condition SRVO-001 Operator panel E-stop
Operator panel emergency stop is pressed. SRVO-002 Teach pendant E-stop
Teach pendant emergency stop is pressed. SRVO-003 Deadman switch
released Both deadman switches on Teach pendant are released. SRVO-007
External emergency stops External emergency stop input (EES1-EES11,
EES2-EES21) is open. SRVO-037 IMSTP input (Group: %d) IMSTP input
(*IMSTP signal for a peripheral device interface) is ON. SRVO-232 NTED input
NTED input (NTED1-NTED11, NTED2-NTED21) is open. SRVO-408 DCS SSO
Ext Emergency Stop In DCS Safe I/O connect function, SSO[3] is OFF. SRVO-
409 DCS SSO Servo Disconnect In DCS Safe I/O connect function, SSO[4] is
OFF. SRVO-410 DCS SSO Ext Emergency Stop In DCS Safe I/O connect
function, SSO[5] is OFF. SRVO-419 DCS PROFIsafe comm. error PROFINET
Safety communication error occurs. Stop Category 1 is different from Stop
Category 0 as follows: • In Stop Category 1, the robot is stopped along the
program path. This function is effective for a system where the robot can
interfere with other devices if it deviates from the program path. • In Stop
Category 1, physical impact is less than Stop Category 0. This function is
effective for systems where the physical impact to the mechanical unit or
EOAT (End of Arm Tool) should be minimized. • The stopping distance and
time of Stop Category 1 is longer than those of Stop Category 0, depending
on the robot model and axis. When this option is loaded, this function
cannot be disabled. The stop type of DCS Position and Speed Check
functions is not affected by the loading of this option. WARNING The
stopping distance and time of Stop Category 1 are longer than those of Stop
Category 0. A risk assessment for the whole robot system which takes into
consideration the increased stopping distance and stopping time, is
necessary when this option is loaded. "Stop Category 1 by E-Stop" option
When "Stop Category 1 by E-Stop" (A05B-2670-J521) option is specified, the
stop type of the following alarms become Category 1 Stop but only in AUTO
mode. In T1 or T2 mode, the stop type is Category 0 Stop which is the
normal operation of the system. Alarm Condition SRVO-001 Operator panel
E-stop Operator panel emergency stop is pressed. SRVO-002 Teach pendant
E-stop Teach pendant emergency stop is pressed. SRVO-007 External
emergency stops External emergency stop input (EES1-EES11, EES2-EES21)
is open. SRVO-408 DCS SSO Ext Emergency Stop In DCS Safe I/O connect
function, SSO[3] is OFF. SRVO-409 DCS SSO Servo Disconnect In DCS Safe
I/O connect function, SSO[4] is OFF. Stop Category 1 is different from Stop
Category 0 as follows: