Safety Functions

The robot system has the following safety functions.

Because of their particular importance for safety, always make sure that they are working before using the robot system.

Controller Safety Function Standard Function

• Safe Torque OFF (STO)

  • A state where the robot is stopped when a signal from the robot controller is input, which causes the relay to open and shut off the power supply to the motor.
  • This will make the robot controller enter the safety mode.
  • STO is operated indirectly from an emergency stop or protective stop. It cannot be operated directly.

• Emergency Stop

  • This function puts the robot in an emergency stop state when the emergency stop switch on the EMERGENCY Connector is pressed.
  • After the signal is input, the STO is executed, and the robot controller enters the emergency stop state after the motor is stopped.
  • The robot controller’s emergency stop circuit is as described below.
    • EMERGENCY Connector
    • This is an emergency stop switch (E-Stop, TP) attached to Teach Pendant.

• Safeguard (SG)/Safeguard (Protective Stop)

  • This function puts the robot in a protective stop when a signal is input from peripheral safety devices on the EMERGENCY Connector.
  • After a signal is input, the protective stop is executed, and the robot enters the protective stop state after the motor is stopped.
  • The robot controller’s safeguard (SG) circuit is as described below.
    • EMERGENCY Connector