EmergencyStopFunctions is a container for one or more instances of the EmergencyStopFunctionType. The number and names of emergency stop functions is vendor specific. When provided, this object contains a list of all emergency stop functions with names and current state. See description of EmergencyStopFunctionType for examples of emergency stop functions.

Table 29 – TypeDefinition of EmergencyStopFunctions of SafetyStateType

Attribute

Value

BrowseName

EmergencyStopFunctions

References

NodeClass

BrowseName

DataType

TypeDefinition

Modelling Rule

HasComponent

Object

<EmergencyStopFunctionIdentifier>

 

EmergencyStopFunctionType

Mandatory Placeholder

Table 30 – ObjectType EmergencyStopFunctionType

Attribute

Value

BrowseName

EmergencyStopFunctionType

References

Node Class

BrowseName

DataType

TypeDefinition

Modelling Rule

Subtype of the BaseObjectType defined in OPC Unified Architecture

HasProperty

Variable

Name

String

PropertyType

Mandatory

HasComponent

Variable

Active

Boolean

BaseDataVariableType

Mandatory

Description of EmergencyStopFunctionType:

According to ISO 10218-1:2011 Ch.5.5.2 Emergency stop the robot shall have one or more emergency stop functions.

  • The Name of the EmergencyStopFunctionType provides a manufacturer-specific emergency stop function identifier within the safety system.

The only named emergency stop function in the ISO 10218-1:2011 standard is the "Pendant emergency stop function". Other than that, the standard does not give any indication on naming of emergency stop functions.

  • The Active variable is TRUE if this particular emergency stop function is active, e.g. that the emergency stop button is pressed, FALSE otherwise.