AUBO AUBO-i10, User Manual

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V4.5
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Safety I/O
Introduction
The safety I/O designed as dual channel (redundant design) to ensure the safety function shall not lost in any
case of single failure. The safety devices and equipments must be implemented in accordance with the safety
instruction and finished the comprehensive risk assessment before use. The safety I/O is located on the
orange terminal block on the back panel of the control box and needs to be retained in two branches.
Safety Tips
1. Never connect safety signals to unsafety PLC which is not in correct safety level
2. Be sure to separate the safety I/O signal with normal I/O signal
3. Ensure to check the safety function before using the robot, and the safety function
must be tested regularly.
Safety I / O function definition
The safety I/O are orange color in the external panel of the control box. The safety functions are defined as
following:
Input
SI00 SI10 External Emergency Stop SI04 SI14 Enabling Device
SI01 SI11 Safeguard Stop SI05 SI15 Operational Mode
SI02 SI12 Reduced Mode Input SI06 SI16 Hand Guiding Enable
SI03 SI13 Safeguard Stop Reset SI07 SI17 System Stop Input
Output
SO00 SO10 Robot Emergenccy Stop SO04 SO14 Not Reduced Mode
SO01 SO11 Robot Moving SO05 SO15 System Error
SO02 SO12 Robot Not Stopping SO06 SO16 BACKUP (Unavailable for User)
SO03 SO13 Reduced Mode SO07 SO17 BACKUP (Unavailable for User)
Safety related electrical inputs
Safety-related electrical outputs
Safety Input Functions
Worst Case
Detection time Power off time Response time
External Emergency Stop 100ms 1200ms 1300ms
Safeguard Stop 100ms
——
1200ms
Reduced Mode Input 100ms
——
1200ms
Safeguard Stop Reset 100ms
——
1200ms
Enabling Device 100ms
——
1200ms
Operational Mode 100ms
——
1200ms
Teach Pendant Emergency Stop 100ms 1200ms 1300ms
System Stop Input 100ms
——
1200ms