Safety Manual

15
The protective stop is rated to PLc, Structure Category 1 as per ISO
13849.
This performance level was deemed to be adequate for the majority
of expected applications. To determine whether PLc is appropriate
for your use case, refer to the diagram under the emergency stop
description.
The protective stop port is intended to interface with volt-free
contacts, such as a switch, interlock or a safety-relay. The port is
not yet compatible with Output Signal Switching Devices (OSSD).
However, this should be possible following a software update in the
near future.
Connector and pinout information for the protective stop port can
be found in the Technical Reference Manual.
Other Stop Functions
Eva does not have any internal protective stop features. The
following stop conditions are not safety-rated, but do provide some
level of protection for general use. A description of their functionality
is given below:
• Releasing the backdriving button whilst performing hand
guiding operations will not cut the power from the robot
actuators or engage the brakes. A stationary position is
maintained by the servo controller.
• Internal errors will command the robot actuators to stop and
engage the brakes immediately. However, power will remain at
the robot actuators.
• Pausing the robot using Choreograph or via the API will
command the servo controller to maintain its current position.
The actuator power will not be cut and the brakes will not be
engaged.