Stop Category

The safety function allows the robot to initiate three types of stop categories defined by IEC 60204-1.

Stop Category	Description
0 [STO]	Immediately, the robot is turned off and stopped. * Joint brake wear & tear may occur, which may shorten the lifespan of the robot. Do not use it unless it is unavoidable. ** Because the power of the robot is shut off, it is necessary to restart it when using it again after removing the danger.
1 [SS1]	All joints of the robot are decelerated to the maximum and stopped, and then the power is shut off to stop. * Since the power of the robot is shut off, it is necessary to restart it when using it again after removing the danger.
2 [SS2]	All the joints of the robot are decelerated to the maximum, stop, and then enter the SOS state. * SOS: Maintains the current position while the robot is powered on and activated, and starts Stop Category 0 when a position change is detected. ** Since the power is not shut off, it can be used immediately after removing the danger.

CAUTION

1. According to ISO10218-1 5.5.2 and 5.5.3, a suitable stop category for emergency stop and protective stop should be selected.
2. For an emergency stop, you must select from stop category 0 or 1.
3. For an emergency stop, activation is required.
4. For a protection stop, at least one must be selected from stop categories 0 and 1.
5. For additional protection stops, stop category 2 can be used.