Safety I/O
This page allows setting of security I/O: click the security I/O drop-down menu to edit, and click [Save] in the configuration manager toolbar to save.
Info
- Some controller models do not support security I/O customization. Please refer to the Hardware User Manual for the function definition of fixed safety I/O.
- C-series and iS-series controller types support using unassigned safety I/O ports as ordinary I/O ports.
- Dual-channel safety I/O ports must receive the enable signals simultaneously to activate the safety I/O function.
- The number of controller I/Os may affect the use of some safety I/O functions. Refer to the actual product for details.
Description of security I/O functions
| Function | Trigger Mode | Description | Notice |
|---|---|---|---|
| Not assigned | - | - | - |
| Emergency stop | Logic low | Level triggering. The level signal typically remains logic high, and "external emergency stop" will be triggered when the signal is set to logic low. | - |
| Safe stop | Logic low | Level triggering. The level signal typically remains logic high, and "safe stop" will be triggered when the signal is set to logic low. | It can be used together with "safe resetting." |
| Safe resetting | Rising edge | Edge triggering. After the "safe stop" signal returns to logic high, the signal will be changed from logic low to logic high, the rising edge will trigger "safe resetting," and the robot will release the safe stop state and continue to move. | It must be configured together with "Safe stop." |
| Reduced mode | Logic high | Level triggering. It will be activated when the level signal is set to logic high. After activation, the robot will enter the reduced mode, and the robot arm will move according to the reduced parameters. For detailed reduced parameters, please refer to "Joint Limit." | The reduced parameters take effect at the same time as the safety limits. |
| Enabling device | Logic low | Level triggering. When the signal remains logic high, the robot will operate normally. When the signal is set to logic low, the page will prompt to trigger "safe stop." When the logic high signal is restored, the robot will release the safe stop and continue to move. | * After the "Enable device" is configured, the dual I/O on the controller must receive valid signals at the same time before the robot can be controlled normally. * It is valid in manual mode. |
| Operating mode | Logic high: Manual mode Logic low: Automatic mode | Level triggering. The operating mode of the robot can be switched. | * If the "Operating mode" is not configured in I/O, the operating mode can be switched on the software interface. * After the "Operating mode" is configured in I/O, manual mode can only be entered via the operating mode in I/O. |
| HandGuide | Logic high | Level triggering. When the logic high is set, the robot will enter the HandGuide mode. | - |
| Safe stop of automatic mode | Logic low | Level triggering. In automatic mode, this signal typically remains logic high, and safe stop will be triggered when the signal is set to a logic low. | * It must be configured together with "Enable device." * Usually used in conjunction with "safe resetting of automatic mode." * It is valid in automatic mode. |
| Safe resetting of automatic mode | Rising edge | Edge triggering. In automatic mode, after the "safe stop of automatic mode" signal returns to logic high, the signal will be changed from logic low to logic high, the rising edge will trigger safety reset, and the robot will release the safe stop state and continue to move. | * It must be configured together with "Safe stop of automatic mode." * It is valid in automatic mode. |
| Function | Output signal | Description |
|---|---|---|
| High when internal emergency stop is triggered | Logic high | When the robot's emergency stop device is triggered and the robot enters the emergency stop state, logic high will be set. |
| Low when internal emergency stop is triggered | Logic low | When the robot's inherent emergency stop device is triggered, the robot enters the robot emergency stop state and is set to logic low. |
| Robot movement | Logic high | When the robot arm position/pose changes, logic high will be set. |
| The robot does not move | Logic high | When the robot arm position/pose has no changes, logic high will be set. * When the motor speed (excluding reducer) is within ±5 RPM, the robot arm position/pose will be deemed to have no changes. |
| Reduced mode | Logic high | When the robot is in the reduced mode, logic high will be set. |
| Logic low | When the robot is not in the reduced mode, logic low will be set. | |
| Non-reduced mode | Logic high | When the robot is not in the reduced mode, logic high will be set. |
| Logic low | When the robot is in the reduced mode, logic low will be set. | |
| The robot does not stop | Logic high | When the system emergency stop, safe stop, or protective stop is triggered, the output port will be set to logic high from the time the system receives the stop signal until the signal is released. |
| Safe home | Logic high | When the robot is in the safe home position, logic high will be set. |