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.