Safety Signal I/O

This function inputs/outputs safety-related signals through a redundant terminal. If any one of the safety input/output signals is detected that the redundant signal is different, the system determines whether it is a short circuit or hardware defect and stops the robot with STO Stop Mode. Safety Signal I/O can be set in Robot Parameter > Safety Settings > Safety I/O.

Safety Input Setting

Signal Name	Description
Emergency Stop (L)	This is used for the purpose of receiving an Emergency Stop signal from the robot device or connecting an Emergency Stop Switch additionally installed around the robot. High: Normal operation Low: This will cause the robot to stop according to the Safety Stop Mode of Emergency Stop set in the Safety Stop Mode.
Emergency Stop – No Loopback (L)	This is used for the purpose of receiving an Emergency Stop signal from the robot device or connecting an Emergency Stop Switch additionally installed around the robot. This signal does not enable the “Emergency Stop – excl. No Loopback Input” safety output. High: Normal operation Low: This will cause the robot to stop according to the stable stop mode of Emergency Stop set in the Safe Stop mode.
Protective Stop (L)	It can be used in conjunction with Safeguarding Devices such as safety mats, light curtains, laser scanners, etc. High: Normal operation Low: This will cause the robot to stop according to the stable stop mode of Protective Stop set in the Safe Stop mode.
Protective Stop - STO (L)	High: Normal operation Low: It immediately cuts off the power to the motor and activates the brakes to force the robot to stop.
Protective Stop - SS1 (L)	High: Normal operation Low: After a control stop, it cuts off the power to the motor and activates the brakes.
Protective Stop - SS2 (L)	High: Normal operation Low: After a control stop, Safe Operating Stop
Protective Stop (L) - Auto Reset & Resume (R)	Unlike Protective Stop this signal can reset the Interrupted state and automatically resume operation. This enables automatic restart after Safety-rated Monitored Stop as described in ISO TS 15066. Low: It follows Protective Stop - SS2. Rising (Low to High): Operation is automatically resumed without manual reset or resume. Warning Automatically resuming operation without direct intervention may be dangerous. A comprehensive risk assessment must be performed to ensure that it is safe to use this signal.
Interlock Reset (R)	This is used to reset a state changed to Interrupted by Protective Stop. Rising (Low to High): This allows the interlock to be reset and returned to normal standby.
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. When a signal is detected within the Collaborative Zone the robot operates (more slowly) according to the smaller Speed Reduction Ratio between the main Speed Reduction Ratio and the collaborative zone Speed Reduction Ratio.
3 Pos Enable Switch (H)	A work permission signal used when connecting the operation permission device to the 3-position switch. High: Jog / servo ON available in Manual Mode Play/Resume/servo on available in Automatic Mode Low: Jog/servo on unavailable in Manual Mode. Play/Resume/servo on unavailable in Automatic Mode.
Handguiding Enable Switch (H)	A work permission signal used when connecting the operation permission device to the handguiding enable switch. High: Hand-guiding available Low: Hand-guiding unavailable
HGC End & Resume (R)	When the handguiding command is executed in automatic mode, the task program stops. A signal used to resume the execution of the task program after the user has executed the handguiding control. Rising (Low to High): The execution of the task program resumes after the HandGuiding Control is performed.
Safety Zone Dynamic Enable (H)	This can be used to dynamically enable or disable a safe space limit or zone. This signal is only available if Dynamic Zone Enable is set when setting up space limit and zone. High: This enables space limits/zones that have been temporarily enabled or disabled by this signal. Low: This disables space limits, zones that have been temporarily enabled or disabled by this signal.
Safety Zone Dynamic Enable (L)	This can be used to dynamically enable or disable a safe space limit or zone. This signal is only available if Dynamic Zone Enable is set when setting up space limit and zone. High: This disables any space limit/zone that were temporarily enabled or disabled by this signal. Low: This enables any space limit and zone that were temporarily enabled or disabled by this signal..
Remote Control Enable (L)	This is used to enable Remote Control Mode. High: Enables the Remote Control Mode Low: Disables the Remote Control Mode

Note

Low active safety input signals allocated at SI1 & SI2 or SI3 & SI4 on TBSI are test-pulse tolerant.
One test pulse with a maximum duration of 1 ms is allowed every 20 ms.

Safety Output Setting

Signal Name	Description
Emergency Stop (L)	Used to notify robot peripherals that an Emergency Stop is required in the following situations. - When the Emergency Stop button on a robot accessory is pressed (teach pendant, smart pendant or emergency stop button box) - When an E-stop signal is input to a dedicated safety input terminal - When an Emergency Stop (L) signal is input from a configurable input terminal to the Safety Input - When an Emergency Stop – No Loopback(L) signal is input from a configurable input terminal to the Safety Input High: Normal operation Low: Emergency stop required
Emergency Stop - excl. No Loopback Input (L)	Used to notify robot peripherals that an Emergency Stop is required in the following situations. - When the Emergency Stop button on a robot accessory is pressed (teach pendant, smart pendant or emergency stop button box) - When an Emergency Stop (L) signal is input from a configurable input terminal to the Safety Input - When an Emergency Stop – No Loopback(L) signal is input from a configurable input terminal to the Safety Input Except when the signal is Emergency Stop – No Loopback (L) on a configurable Safety Input. With this signal, deadlock can be avoided because the Emergency Stop signal is not sent back to the peripheral that sent the Emergency Stop signal. High: Normal operation Low: Emergency stop required
#Safe Torque Off (L)#	High: The robot is not servo off, and not in emergency stop state. Low: The robot is servo off and in emergency stop state.
Safe Operating Stop (L)	High: The robot is not in the Standby State. Low: The robot is in the Standby State and Standstill monitoring is enabled.
Abnormal (L)	High: The robot is not in an Interrupted, Recovery, or Auto Measure state. Low: The robot is in either Interrupted, Recovery, or Auto Measure state.
Normal Speed (L)	High: The robot is operating at a reduced speed due to an external Reduced Speed Activation safety input signal. Low: Robot operating at normal speed
Reduced Speed (L)	High: Robot operating at normal speed Low: The robot is operating at a reduced speed due to an external Reduced Speed Activation safety input signal.
Auto Mode (L)	High: The robot is not currently in Auto Mode. Low: The robot is currently in Auto Mode
Manual Mode (L)	High: The robot is not currently in Manual Mode. Low: The robot is currently in Manual Mode.
Remote Control Mode (L)	High: The robot is not currently in Remote Control Mode. Low: The robot is not currently in Remote Control Mode.
Standalone Zone (L)	High: The robot's TCP is located in one of the Collaborative Zones. 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 located in one of the Collaborative Zones.
High Priority Zone (L)	High: The robot's TCP is not located in any Collision Sensitivity Reduction Zone and the High Priority Zone option is not checked on the Custom Zone. Low: The robot's TCP is located in one of the Collision Sensitivity Reduction Zones or the High Priority Zone option is checked on the Custom Zone.
Tool Orientation Monitoring Zone (L)	High: The robot's TCP is not located in any Tool Orientation Limit Zone. Low: The robot's TCP is located in one of the Tool Orientation Limit Zones.
Designated Zone (L)	This is used to check whether the Tool Center Point (TCP) is located within the user-defined zone. The Designated Zone signal defined in the Safety Output settings screen can be selected on the Zone settings screen. High: TCP is not within any zone associated with a Designated Zone Safety Output. Low: TCP is in the zone associated with a Designated Zone Safety Output.