1.8 Safety I/O signals

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.