Safety Function Manual for Collaborative Robot
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  • Safety Function Manual for Collaborative Robot
  • About this manual
    • Copyright
    • Notation rules
    • Safety precautions
  • 1. Safety functions of the collaborative robot
    • 1.1 Description of terms
    • 1.2 Collaborative operation mode
      • 1.2.1 Safety-rated monitored stop
      • 1.2.2 Hand guiding
      • 1.2.3 Speed and separation monitoring
      • 1.2.4 Power and force limiting
    • 1.3 Safety functions
      • 1.3.1 Robot limit functions
      • 1.3.2 Joint limit functions
    • 1.4 Matters to be checked upon replacing safety devices
    • 1.5 Matters to be checked before using the safety functions
      • 1.5.1 Encoder offset
      • 1.5.2 Checking the torque sensor
        • 1.5.2.1 Torque sensor offset
      • 1.5.3 Setting of tool data
      • 1.5.4 Password setting
    • 1.6 Robot safety conditions
      • 1.6.1 Robot limiting parameters
      • 1.6.2 Joint limiting parameters
    • 1.7 Safety layout
      • 1.7.1 Safety space setting
        • 1.7.1.1 Setting information on safety space parameters
      • 1.7.2 Safety tool modeling
      • 1.7.3 Safety robot modeling
      • 1.7.4WorkCell 3D
    • 1.8 Safety I/O signals
    • 1.9Safety Stop Function
    • 1.10 Safety condition monitoring
      • 1.10.1 Robot limiting parameter monitoring
      • 1.10.2Joint limiting function monitoring
      • 1.10.3 SCM board status monitoring
      • 1.10.4 Safety I/O status monitoring
      • 1.10.5 Recovery mode
        • 1.10.5.1 Recovery in case of robot position violations
        • 1.10.5.2 Recovery in case of robot speed violations
        • 1.10.5.3 Recovery in case of robot force violations
        • 1.10.5.4 Recovery in cases of safe operating stop (SOS) violations
    • 1.11 Collaborative robot collision detection mode
  • 2. Direct teaching
    • 2.1 Direct teaching switch assignment
    • 2.2 Driving the robot by direct teaching
    • 2.3 Direct teaching mode setting
    • 2.4 Constraint motion
  • 3. I/O setting
    • 3.1 I/O map
    • 3.2 Tool I/O
      • 3.2.1 Default specifications of the tool I/O
      • 3.2.2 Tool I/O setting
    • 3.3 Analog I/O
      • 3.3.1 Default specifications of the analog I/O
      • 3.3.2 Analog I/O setting
  • 4. Error messages
    • E7001~E7066
    • E7101~E7120
    • E7170~E7213
    • E7250~E7348
    • E7403~E7711
    • E7731~E7905
  • Attachment
    • The Rules on the Criteria for Occupational Safety and Health, and the Public Notice of Safety Inspec
  • Warranty
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  1. 1. Safety functions of the collaborative robot

1.8 Safety I/O signals

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Last updated 3 years ago

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This assigns safety I/Os in using the collaborative robot. Each safety I/O is of a dual channel. You can set up to four signals each for input and output.

1. Select the [Configure] button > [4: Application parameter > 21: Cobot Setup > 1: Cobot Safety Function > 3: Cobot Safety I/O] menu.

2. Click the drop-down menu, configure I/O signals, and click the [Apply] button.

Input signal assignment

Parameter

　　　　　　　　Description

IN0–IN3

Activation signal assignment

(up to 4 signals, 0–22)

  • 0 = None

  • 1 = Stop 0

  • 2 = Stop 1

  • 3 = Stop 2

  • 4 = SOS

  • 5 = Reduced mode

  • 7 = Motor on

  • 11–22 = Safety spaces #1 - #12

output signal assignment

Parameter

　　　　　　　　　Description

OUT0–OUT3

Monitoring signal assignment

(up to 4 signals, 0–43)

  • 0 = None

  • 1 = STO activation status

  • 2 = SOS activation status

  • 3 = Reduced mode activation status

  • 4 = Not reduced mode

  • 5 = Robot moving

  • 7 = Mode switch – manual

  • 8 = Mode switch – auto

  • 9 = Mode switch – remote

  • 10–21 = Safety spaces #1 - #12

  • 22 = Violation alarm

  • 23 = TCP speed violation

  • 24 = TCP orientation violation

  • 25 = TCP force violation

  • 26 = Collision detection

  • 27 = Momentum violation

  • 28 = Power violation

  • 29 = SOS violation

  • 30 = Joint position violation

  • 31 = Joint speed violation

  • 32 = Joint torque violation

  • 33-43 = Safety space violation #1 - #12

3. After checking the parameter values, finish the setting by clicking the [X] button or by clicking the <esc> key of the teach pendant.