Appendix-110
Classification of functions using external input/output signals
7 Appendix
Appendix 2: Classification of functions using external input/output signals
Before using the functions, note the following.
Table 7-1: Classification of functions using external input/output signals
Classification
Function
Description
Safety signal
Emergency stop input
Detects emergency stop inputs. The safety diagnosis function for the
emergency stop input circuit makes the STO function meet the requirements
of Category 4, Performance Level e.
At factory settings, the STO function meets the requirements of Category 3,
Performance Level d. To make the STO function meet the requirements of
Category 4, Performance Level e, change the parameter setting by referring
to
Page 111, "Appendix 3: Safety diagnosis function (Test pulse diagnosis)"
.
Mode selector switch input
Switches the controller mode between MANUAL and AUTOMATIC.
Door switch input
Receives the status of the switch installed on the door of the safety fence to
detect the opening of the door.
Non-safety signal
Emergency stop output
Monitors whether the robot is in the emergency stop state.
Mode output
Monitors whether the robot operates in MANUAL or AUTOMATIC mode.
Robot error output
Monitors the error status of the robot.
Additional axis synchronization
output
Synchronizes the state of the additional axes (servo ON/OFF) with that of
the robot arm.
For details, refer to
Summary of Contents for CR800-D Series
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