Normal I/O Setting

Safe Torque Off (L)

• High: Robot is not in Servo Off, Emergency Stop state

• Low: Robot is in Servo Off or Emergency Stop state

Safe Operating Stop (L)

• High: Robot is not in Standby state

• Low: Robot is in Standby state, and standstill monitoring is activated.

Normal Speed (L)

• High: Robot is operating at the reduced speed due to external Reduced Speed Activation safety input

• Low: Robot is operating as normal speed

Reduced Speed (L)

• High: Robot is operating as normal speed

• Low: Robot is operating at the reduced speed due to external Reduced Speed Activation safety input

Auto Mode (L)

• High: The robot is not in Auto Mode

• Low: The robot is in Auto Mode

Manual Mode (L)

• High: The robot is not in Manual Mode

• Low: The robot is in Manual Mode

Remote Control Mode (L)

• High: The robot is not in Remote Control Mode

• Low: The robot is in Remote Control Mode

Standalone Zone (L)

• High: The robot’s TCP is in a Collaborative Zone

• Low: The robot’s TCP is not in any Collaborative Zone

Collaborative Zone (L)

• High: The robot’s TCP is not in any Collaborative Zone

• Low: The robot’s TCP is in a Collaborative Zone

High Priority Zone (L)

• High: The robot’s TCP is not in any Collision Sensitivity Reduction Zone and not in a High Priority Zone option checked Custom Zone

• Low: The robot’s TCP is in a Collision Sensitivity Reduction Zone or in a High Priority Zone option checked Custom Zone

Tool Orientation Limit Zone (L)

• High: The robot’s TCP is not in any Tool Orientation Limit Zone

• Low: The robot’s TCP is in a Tool Orientation Limit Zone

Designated Zone (L)

This is used to confirm if the TCP (Tool Center Point) is inside the user-defined Zone.

The Designated Zone signal defined on the Safety Output setting UI can be selected from the Zone setting UI

• High: If the TCP is not inside any Zone linked with the Designated Zone normal output

• Low: If the TCP is inside a Zone linked with the Designated Zone noraml output

Task Operating (L)

• High: Task is not in operation

• Low: Task is in operation

Robot In Motion (L)

This is used to notify the operator that the robot joint is actually operating.

• High: The robot is stopped

• Low: The robot is operating

Encoder Initialization Alarm (L)

This is used to notify the operator that encoder initialization is required due to an issue in the home position setting.

• High: The robot does not require encoder initialization

• Low: The robot requires encoder initialization

Home Position (L)

This is used to confirm whether the robot is at the home position.

• High: The robot is not at the home position

• Low: The robot is at the home position

Deceleration - SS1 SS2 (L)

This is used to check whether the robot is decelerating or not during operation. In standby or normal operation, the signal remains high. When deceleration starts, the signal changes to Low, and when deceleration ends, the signal returns to High again.

• High: Normal operation

• Low: Deceleration by SS1 or SS2 is occurred