According to ISO 10218-1:2011 Ch.5.5.2 Emergency stop, the robot shall have one or more emergency stop functions. This shall be done with the help of the EmergencyStopFunctionType is defined in Table 23.

Table 23 – EmergencyStopFunctionType Definition

Attribute	Value
BrowseName	EmergencyStopFunctionType
References	Node Class	BrowseName	DataType	TypeDefinition	Modelling Rule
Subtype of the BaseObjectType defined in OPC Unified Architecture
0:HasProperty	Variable	Name	0:String	0:PropertyType	M
0:HasComponent	Variable	Active	0:Boolean	0:BaseDataVariableType	M
Conformance Units
Rob Emergency Stop Function

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 emergency stop function is active, e.g. that the emergency stop button is pressed, FALSE otherwise.