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Stop categories

The robot can be stopped using various stop categories (in accordance with IEC 60204-1). These categories are described in the following table:

Stop categoryDescription
0 (SS0)Immediate interruption of the power supply to the motor phases and activation of the safety brakes.
1 (SS1)The robot is brought to a controlled stop. As soon as all drive modules have come to a stop, an SS0 is triggered.

If one or more axes do not decelerate at a rate of at least the set deceleration of 500 rad/s², an SS0 is triggered.
2 (SS2)The robot is brought to a controlled stop. Once all drive modules have come to a stop, the stop is monitored.

If one or more axes do not decelerate at a rate of at least the set deceleration of 500 rad/s², an SS0 is triggered.
In addition, an SS0 is triggered if a robot movement is detected during the monitored standstill.