Safety Outputs
Outline and Operation Patterns for Safety Outputs
Safety outputs are functions that output information related to the safety functions of the Robot Controller to the safety devices connected to the safety outputs of the safety I/O connectors.
The Robot Controller has three ports for safety outputs.
The information that can be assigned to safety outputs is as follows:
- Whether the STO statement is being issued or not
- Whether the emergency stop switch is On or Off (emergency stop switch connected to the EMERGENCY connector, emergency stop switch attached to Teach Pendant)
- Whether the enable switch is on or off
- Whether Safety Limited Speed (SLS) is enabled or disabled (SLS_1, SLS_2, SLS_3, SLS_T, and SLS_T2)
- Whether Safety Limited Position (SLP) is enabled or disabled (SLP_A, SLP_B, and SLP_C)
Multiple pieces of information related to safety functions can be assigned to a single safety output port. When making multiple assignments, the signal level of the safety outputs becomes Low if the STO statement is issued (signal level is Low), the emergency stop is turned on (signal level is Low), the enable switch is turned off (signal level is Low), the Safety Limited Speed (SLS) is enabled (signal level is Low), or the Safety Limited Position (SLP) is enabled (signal level is Low).
Safety output status and output signal level
The safety output to which whether the STO statement is being issued or not is assigned outputs a signal on the Low level if the STO statement is being issued, and a signal on the High level if the STO statement is not being issued.
| Assignment to Safety Outputs | Output Signal Level | ||
|---|---|---|---|
| STO Statement | High | Low | |
| Standard functions | STO | Statement not being issued | Statement being issued |
The safety output to which whether the emergency stop switch is on or off is assigned outputs a signal on the Low level if the switch is on, and a signal on the High level if the switch is off.
| Assignment to Safety Outputs | Output Signal Level | ||
|---|---|---|---|
| Emergency Stop Switch | High | Low | |
| Standard functions | EP_RC * | Switch off | Switch on |
| EP_TP* | Switch off | Switch on | |
*: EP_RC: Emergency stop switch connected to the EMERGENCY connector, EP_TP: Emergency stop switch attached to Teach Pendant
The safety output to which whether the enable switch is on or off is assigned outputs a signal on the Low level if the switch is off, and a signal on the High level if the switch is on.
| Assignment to Safety Outputs | Output Signal Level | ||
|---|---|---|---|
| Enable Switch | High | Low | |
| Standard functions | EN_SW | Switch on (Middle position) | Switch off (Not middle position) |
CAUTION
SLS and SLP output whether the monitoring function is enabled.
The signal does not switch even if the Manipulator exceeds speed limits or enters a restricted area. Therefore, to make a trigger when the Manipulator exceeds speed limits or enters a restricted area, use the STO output signal as well.
The safety output to which whether the Safety Limited Speed (SLS) is enabled or disabled is assigned outputs a signal on the Low level if the Safety Limited Speed (SLS) is enabled, and a signal on the High level if it is disabled.
| Assignment to Safety Outputs | Output Signal Level | ||
|---|---|---|---|
| Safety Limited Speed (SLS) | High | Low | |
| Standard functions | SLS_T | Limitation disabled | Limitation enabled |
| SLS_T2 | |||
| Optional safety functions | SLS_1 | Limitation disabled | Limitation enabled |
| SLS_2 | |||
| SLS_3 | |||
The safety output to which whether the Safety Limited Position (SLP) is enabled or disabled is assigned outputs a signal on the Low level if the Safety Limited Position (SLP) is enabled, and a signal on the High level if it is disabled.
| Assignment to Safety Outputs | Output Signal Level | ||
|---|---|---|---|
| Safety Limited Position (SLP) | High | Low | |
| Optional safety functions | SLP_A | Limitation disabled | Limitation enabled |
| SLP_B | |||
| SLP_C | |||
Time from safety function information input until safety output signal is issued 