Safety Inputs

Outline and Operation Patterns for Safety Inputs

The safety inputs are functions that execute safety functions assigned to the safety inputs according to the output signal of the safety device connected to the safety inputs of safety I/O connectors.
The safety I/O connectors have five ports for safety inputs.
The safety functions that can be assigned to the safety inputs are as follows:

• Emergency Stop (ESTOP)

• Safeguard (SG)

• Safety Limited Speeds (SLS) SLS_1, SLS_2, and SLS_3
  Refer to the following section for details.
  Safety Limited Speed (SLS)

• Safety Limited Positions (SLP) SLP_A, SLP_B, SLP_C, and SLS_1*
  Refer to the following section for details.
  Safety Limited Position (SLP)

  *: Case where Joint Angle Limit is enabled in SLS_1 settings. Refer to the following section for details.
  Joint Angle Limit

Operation modes and enabling/disabling safety inputs
Emergency Stop (ESTOP) can be executed in any operation mode.
Safeguard (SG) can be executed in the AUTO operation mode.

Safe Stop 1 by Safety Input 1		Enable or disable for each operation mode B: Enable or disable based on safety inputs -: Always disable
		AUTO	TEACH	TEST T1	TEST T2
Standard functions	ESTOP	B	B	B	B
	SG	B	-	-	-

Multiple safety functions can be assigned to a single safety input port. Multiple safety functions are prioritized in the following order:

• Priority: High
  Emergency Stop (ESTOP)
  Safeguard (SG)
• Priority: Low
  Safety Limited Speed (SLS)
  Safety Limited Position (SLP)
  Joint Angle Limit

Relationship between safety inputs and the STO statement (when ESTOP or SG is assigned)
Safety inputs to which the Emergency Stop (ESTOP) or Safeguard (SG) are assigned execute Safe Stop 1 (SS1) when the signal level is "Low."

Safety Input Signal Level	Safety Function Operation
High	Does not execute Safe Stop 1 (SS1)
Low	Executes Safe Stop 1 (SS1)

Relationship between safety inputs and the STO statement (when SLS is assigned)
The safety input to which Safety Limited Speed (SLS) is assigned disables Safety Limited Speed (SLS) when the signal level is "High" and enables Safety Limited Speed (SLS) when the signal level is "Low."
The delay time for enabling/disabling Safety Limited Speed (SLS) is set in Safety Function Manager.

Safety Input Signal Level	Safety Function Operation
High	Disables Safety Limited Speed (SLS)
Low	Enables Safety Limited Speed (SLS)

Relationship between safety inputs and the STO statement (when SLP is assigned)
The safety input to which Safety Limited Position (SLP) is assigned disables Safety Limited Position (SLP) when the signal level is "High" and enables Safety Limited Position (SLP) when the signal level is "Low."

Safety Input Signal Level	Safety Function Operation
High	Disables Safety Limited Position (SLP)
Low	Enables Safety Limited Position (SLP)