5.2.1 Safety I/O
On [I/O] page, you can set safety I/O: tap the safety I/O drop-down menu to edit and tap [Save] in the configuration manager tool bar to save.
- Some controller models do not support safety I/O customization. See the Hardware Manual for the function definition of fixed safety I/O.
- Unassigned safety I/O can be used as normal I/O on C-series and iS-series controllers.
- Dual-channel safety I/O ports must receive the enable signal simultaneously to activate the safety I/O function.
Description of safety I/O functions
| Function | Trigger mode | Description | Notice |
|---|---|---|---|
| Not assigned | - | - | - |
| Emergency stop | Logic Low | Level triggering. Level triggering. Maintains a logic high signal. When set to logic low, trigger the "External Emergency Stop". | - |
| Safeguard Stop | Logic Low | Level triggering. Maintains a logic high signal. When set to logic low, trigger a safeguard stop. | It can be used together with "Safety reset". |
| Safeguard Reset | Rising edge | Edge triggering. After the "Safeguard Stop" signal returns to logic high, transitioning this signal from logic low to logic high can trigger a safeguard reset. The rising edge triggers the reset, enabling the robot to release the safeguard stop state and resume motion. | Must be configured together with the “Safeguard Stop". |
| Reduced Mode | Logic High | Level triggering. When set to logic high, the robot enters the reduced mode, and the robotic arm moves according to reduced parameters. For details on reduced parameters, please refer to "Joint Limits". | The reduced parameters take effect at the same time as the safety limits. |
| Enable Device | Logic Low | Level triggering. Maintains a logic high signal, the robot operates normally.
When set to logic low, a software interface popup prompts for triggering safeguard stop. Restoring a logic high signal releases the safeguard stop, allowing the robot to resume motion. |
\* After the "Enable device" is configured, the dual I/O on the controller must receive valid signals at the same time to control the robot normally.
\* Only enabled in Manual Mode. |
| Operational Mode | Logic high: Manual mode Logic low: Auto mode |
Level triggering. Switches the operational mode of the robot. | \* When "Operational Mode" is not configured in I/O, the operational mode can be switched through the software interface.
\* After configuring "Operation Mode" in I/O, the operational mode can only be switched via I/O. |
| HandGuide | Logic High | Level triggering. When set to logic high, the robot enters HandGuide Mode. | - |
| Automatic Safeguard Stop | Logic Low | Level triggering. In Auto Mode, this signal typically remains logic high, triggering a safeguard stop when set to logic low. | \* It must be configured together with "Enable device".
\* It can be used together with " Auto Mode Safeguard Reset". \* Only enabled in Auto Mode. |
| Automatic Safeguard Reset | Rising edge | Edge triggering. In Auto Mode, after the "Auto Mode Safeguard Stop" signal returns to logic high, transitioning this signal from logic low to logic high can trigger a safeguard reset. The rising edge triggers the reset, enabling the robot to release the safeguard stop state and resume motion. | \* It must be configured together with " Auto Mode Safeguard Stop".
\* Only enabled in Auto Mode. |
| Function | Output signal | Description |
|---|---|---|
| System Emergency Stop | Logic high | Set to logic high when the robot enters the system emergency stop state. |
| System Not Emergency Stop | Logic high | Set to logic high when the robot is not in the emergency stop state. |
| Logic low | Set to logic low when the robot enters the system emergency stop state. | |
| Robot Moving | Logic high | Set to logic high when the robot arm position/pose changes. |
| Robot Not Moving | Logic high | Set to logic high when the robot arm position/pose has no changes.
\* 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 | Set to logic high when the robot is in the reduced mode. |
| Logic low | Set to logic low when the robot is not in the reduced mode. | |
| Not Reduced Mode | Logic high | Set to logic high when the robot is not in the reduced mode. |
| Logic low | Set to logic low when the robot is in the reduced mode. | |
| Robot Not Stopping | Logic high | After the system triggers an emergency stop, safeguard stop, or protective stop, the signal is set to logic high until these signals are released. |
| Safe Home | Logic high | Set to logic high when the robot is in the safe home position. |