1.9Safety Stop Function

Set an adequate safety stop type for each safety stop function. The safety stop functions, which stop the robot under a safe condition in case of a safety violation, include the following three types. All types of safety stop functions meet the requirements of Clause 4.2.2.4 of IEC 61800-5-2.

• Stop0: The power of the motors of all the joint modules will disconnect immediately, and the motors will stop.

• Stop1: The power of the motors of all the joint modules will decelerate, and the motors will stop. Then, the power of the motors will be disconnected.

• Stop2: The motors of all the joint modules will decelerate, and the safe operating stop (SOS) function will take effect. The power supply status of all the motors will be retained.

The method for setting the safety stop types of the safety functions is as follows:

1. Select the [Configure] button > [4: Application parameter > 21: Cobot Setup > 1: Cobot Safety Function > 4: Safety Stop Function] menu.

2. Click the drop-down menu, set the stop type, and click the [Apply] button.

No.	Safety function	Stop function
1	SOS	Default setting value: Stop0 (fixed value)
2	TCP position violation (safety space violation)	Default setting value: Stop0
3	Joint position violation	Default setting value: Stop0
4	TCP speed violation	Default setting value: Stop0
5	Joint speed violation	Default setting value: Stop0
6	Joint torque violation	Default setting value: Stop0
7	TCP force violation	Default setting value: Stop0
8	TCP orientation violation	Default setting value: Stop0
9	Power violation	Default setting value: Stop0
10	Momentum violation	Default setting value: Stop0
11	Collision detection	Default setting value: Stop0
12	Emergency stop	Default setting value: Stop0
13	External emergency stop	Default setting value: Stop0
14	Safeguard stop	Default setting value: Stop1 (fixed value)

3. After checking the parameter values, finish the setting by clicking the [X] button or by clicking the <esc> key of the teach pendant.

[Caution]: You should set an adequate stopping method for each function based on the result of the risk assessment.