Safety Function Manual for Collaborative Robot
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English
  • 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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  • Digital I/O
  • Analog input
  • I/O voltage
  • General specifications

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  1. 3. I/O setting
  2. 3.2 Tool I/O

3.2.1 Default specifications of the tool I/O

Digital I/O

Division

Input

Output

No. of channels

4

4

I/O type

  • SMT-IO06-48PP-HD01: PNP

  • SMT-IO06-48NN-HD01: NPN

  • SMT-IO06-48PN-HD01: PNP

  • SMT-IO06-48NP-HD01: NPN

  • SMT-IO06-48PP-HD01: PNP

  • SMT-IO06-48NN-HD01: NPN

  • SMT-IO06-48PN-HD01: NPN

  • SMT-IO06-48NP-HD01: PNP

Rated voltage

12 or 24 V

12 or 24 V

Rated current

1 mA

1 A/Output, 1.5 A/Common

Voltage at On

4 V DC max.

-

Voltage at Off

3 V DC max.

-

Delay in On

1 ms max.

1 ms max.

Delay in Off

1 ms max.

1 ms max.

Leakage current

-

0.1 mA max.

Absolute maximum output

-0.5–+26 V

-0.5–+26 V

Analog input

Division
Voltage
Current

Division

Voltage

Current

No. of channels

2

2

Input range

0–10 V

0–20 mA

AD/DA conversion data

0–1,000

0–2,000

Input impedance

1 MΩ

250 Ω

Precision

±1.0% FS (±100 mV)

±1.0% FS (±200 uA)

Ambient temperature

0°C–55°C

0°C–55°C

Absolute maximum input

-0.5­–+26 V

-2.5–+25 mA

I/O voltage

  • Output voltage

Division

Information

Supply voltage mode

0, 12 or 24 VDC output (±5%)

Rated supply current

1.5 A

Absolute supply current

1.6 A max

  • Input voltage

Division

Information

Input voltage range

+48 VDC (±10%)

Current consumption

800 mA max

General specifications

  • Communication interface

Division

Information

Protocol

EtherCAT

Connector

Hirose connector × 2

(EtherCAT input and output)

  • Product

Division

Information

Weight

30 g max

Diameter

70 Ø

  • Environment

Division

Information

Operating temperature

0-50℃

Storage temperature/humidity

-20°C–60°C / ≤90% RH (noncondensing)

Previous3.2 Tool I/ONext3.2.2 Tool I/O setting

Last updated 3 years ago

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