According to ISO 10218-1:2011 Ch.5.5.3 the robot shall have one or more protective stop functions designed for the connection of external protective devices. This type is formally defined in Table 24

Table 24 – ProtectiveStopFunctionType Definition

Attribute	Value
BrowseName	ProtectiveStopFunctionType
References	NodeClass	BrowseName	DataType	TypeDefinition	Others
Subtype of the BaseObjectType defined in OPC Unified Architecture
0:HasProperty	Variable	Name	0:String	0:PropertyType	M
0:HasComponent	Variable	Enabled	0:Boolean	0:BaseDataVariableType	M
0:HasComponent	Variable	Active	0:Boolean	0:BaseDataVariableType	M
Conformance Units
Rob Protective Stop Function

The Name of the ProtectiveStopFunctionType provides a manufacturer-specific protective stop function identifier within the safety system.

The Enabled variable is TRUE if this protective stop function is currently supervising the system, FALSE otherwise. A protective stop function may or may not be always enabled, e.g. the protective stop function of the safety doors is typically enabled in automatic operational mode and disabled in manual mode. On the other hand, for example, the protective stop function of the teach pendant enabling device is enabled in manual modes and disabled in automatic modes.

The Active variable is TRUE if this protective stop function is active, i.e. that a stop is initiated, FALSE otherwise. If Enabled is FALSE then Active shall be FALSE.

Examples

The table below shows an example with a door interlock function. In this example, the door is only monitored during automatic modes. During manual modes, the operators may open the door without causing a protective stop.

Table 25 – Door Interlock Protective Stop Example

	Automatic Mode		Manual Mode
Door interlock	Enabled	Active	Enabled	Active
Door closed	TRUE	FALSE	FALSE	FALSE
Door open	TRUE	TRUE	FALSE	FALSE

The next example shows how the three-position enabling device normally found on teach pendants is processed. In this case it does not matter if the enabling device is pressed or not during automatic modes, while in manual modes, a protective stop is active if the enabling device is released or fully pressed.

Table 26 – Teach Pendant Enabling Device Protective Stop Example

	Automatic Mode		Manual Mode
Teach Pendant Enabling Device	Enabled	Active	Enabled	Active
Released	FALSE	FALSE	TRUE	TRUE
Middle position	FALSE	FALSE	TRUE	FALSE
Fully pressed (panic)	FALSE	FALSE	TRUE	TRUE