Main Functions

Refer to the following section for details.
Explanation of Robot Controller Safety Functions

For details on each function, refer to the following sections.
Standard functions:

• Safe Torque OFF (STO)
• Safe Stop 1 (SS1)
• Emergency Stop
• Enable
• Soft Axis Limiting
• Safety Inputs
• Safety Outputs

Paid option functions:

• Safety Limited Speed (SLS)
• Safety Limited Position (SLP)
• Joint Angle Limit