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Safety I/O

This function inputs/outputs safety-related signals through a redundant terminal. If a signal that is different from the redundant safety input or output signal is detected, the system determines whether it is a short circuit or hardware defect and stops the robot with STO Stop Mode. To set the Safety I/O, go to the Robot Workcell and select Robot > Safety I/O.

Safety Input Setting

It can be used as a safety-rated output by assigning a safety signal to two consecutive ports of the configurable digital output (TBCO).

Signal Name

Description

Emergency Stop (L)

It is an interface to receive emergency stop signal from peripheral device, or connect additional emergency stop switches.

  • High: Normal operation
  • Low: It stops the robot according to the stop mode setting for Emergency Stop at the Safety Stop Mode.

Emergency Stop – No Loopback (L)

It is an interface to receive emergency stop signal from peripheral device, or connect additional emergency stop switches. This signal doesn’t activate ‘Emergency Stop – excl. No Loopback Input’ safety outp

  • High: Normal operation
  • Low: It stops the robot according to the stop mode setting for Emergency Stop at the Safety Stop Mode.

Protective Stop (L)

It can be linked with Safeguarding Devices such as safety matts, light curtains and laser scanners.

  • High: Normal operation
  • Low: It stops the robot according to the stop mode setting for Protective Stop at the Safety Stop Mode.

Protective Stop – STO (L)

  • High: Normal operation
  • Low: Immediately cuts the motor power and engages the brakes to force the robot to stop.

Protective Stop – SS1 (L)

  • High: Normal operation
  • Low: Cuts off the motor power and engages the brakes after controlled stop.

Protective Stop – SS2 (L)

  • High: Normal operation
  • Low: Position is maintained with power supplied to the motor and the brake disengaged after controlled stop.

Protective Stop(L) - Auto Reset & Resume (R)

Unlike the other Protective Stop, Interrupted state can be reset and automatic operation can be resumed automatically by this signal. This enables automatic restart after Safety-rated Monitored Stop described in ISO TS 15066.

  • Low: Follow Protective Stop – SS2.
  • Rising (Low to High): the task resumes automatically without manual reset or resume.

Warning

Resuming automatic operation without manual intervention can be dangerous,
 DO conduct a comprehensive risk assessment to confirm that using this signal is safe

Interlock Reset (R)

It is used to reset the Interrupted state by Protective Stop

  • Rising(Low to High): Reset the restart interlock and permit return to normal standby state

Reduced Speed Activation (L)

  • High: Operates the robot at the normal speed set in the task
  • Low: It operates the robot at a speed proportionately reduced from the speed set in the task. The reduction ratio can be adjusted using the Speed Reduction Ratio slide bar. If a signal is detected within a Collaborative Zone, the robot is operated at the smaller speed reduction ratio (slower) between the main speed reduction ratio and the Collaborative Zone speed reduction ratio.

3 Pos Enable Switch (H)

This is operation permission equipment that is used to connect a three-position enabling switch.

  • High: Jog/Servo On are available in Manual Mode
    Play/Resume/Servo On are available in Auto Mode
  • Low: Jog/Servo On are prohibited in Manual Mode
    Play/Resume/Servo On are prohibited in Auto Mode

Handguiding Enable Switch (H)

It is an operation permission signal used to connect a hand guide switch.

  • High: Hand-guiding available
  • Low: Hand-guiding unavailable

HGC End & Resume (R)

It is used to resume task program execution after operator’s HandGuiding Control(HGC) in Auto Mode

  • Rising(Low to High): Resumes task program after the handguiding control.

Safety Zone Dynamic Enable (H)

It is available that activating/deactivating Space Limit and/or Zone dynamically.

  • High: Activates the Space Limit or Zone set to be temporarily enabled or disabled by this signal
  •  Low: Deactivates the Space Limit or Zone set to be temporarily enabled or disabled by this signal

Safety Zone Dynamic Enable (L)

It is available that activating/deactivating Space Limit and/or Zone dynamically.

  • High: Deactivates the Space Limit or Zone set to be temporarily enabled or disabled by this signal
  • Low: Activates the Space Limit or Zone set to be temporarily enabled or disabled by this signal

Remote Control Enable (L)

Used to enable the Remote Control Mode.

  • High: Remote Control Mode enabled.
  • Low: Remote Control Mode disabled.

Suspension of Protective Stop Signals

In robot teaching, recovery, and hand-guided control situations, the operator approaching to the robot may be intended task.

The Suspension of Protective Stop Signals function is provided for the protective device not to prevent these intended task.


Warning

DO conduct a comprehensive risk assessment to confirm that using this function is safe


The suspension of the protective stop related signals can be set per robot state group.

The protective stop related signal input is ignored when the robot is in the state included in the unchecked state group.

When the robot enters the automatic states, this function is terminated and the protective stop related signals are all activated.


The following are the protective stop related signals that can be suspended.

  • TBSFT - PR

  • TBCI - Protective Stop (L)

  • TBCI - Protective Stop - STO (L)

  • TBCI - Protective Stop - SS1 (L)

  • TBCI - Protective Stop - SS2 (L)

  • TBCI - Protective Stop (L) - Auto Reset & Resume (R)

The following are the state groups that the protective stop related signals can be suspended and the states they contain.

  • MANUAL Group- Manual Standby, Manual Jogging, Manual Handguiding
  • RECOVERY Group- Recovery Standby, Recovery Jogging, Recovery Handguiding
  • HGC Group- HGC Standby, HGC Running



Safety Output Setting

It can be used as a safety-rated output by assigning a safety signal to two consecutive ports of the configurable digital output (TBCO).

Signal Name

Description

Emergency Stop

(L)

It is used to notify that emergency stop is required to peripheral devices, such situation as

- Emergency Stop Button is pushed on robot accessories (Teach pendant, Smart Pendant, Emergency Button Box)

- Emergency Stop from the dedicated Safety Input

- Emergency Stop (L) from the configurable Safety Input

- Emergency Stop – No Loopback(L) from the configurable Safety Input.

  • High: Normal operation
  • Low: Emergency stop required

Emergency Stop – excl. No Loopback Input (L)

It is used to notify that emergency stop is required to peripheral devices, such situation as

- Emergency Stop Button is pushed on robot accessories (Teach pendant, Smart Pendant, Emergency Button Box)

- Emergency Stop from the dedicated Safety Input

- Emergency Stop (L) from the configurable Safety Input

The case of Emergency Stop – No Loopback(L) from the configurable Safety Input is EXCLUDED.

Deadlocks can be avoided by not sending back the emergency stop signal to the peripheral device that originally sending emergency stop signal to robot.

  • High: Normal operation
  • Low: Emergency stop required

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.

Abnormal (L)

  • High: Robot is not in Interrupted, Recovery, Auto Measure state
  • Low: Robot is in Interrupted, Recovery, or Auto Measure state

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