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Precaution:
1. There is no current limit on the digital output of the controller. If the specified data is
exceeded, permanent damage may result.
This section describes the dedicated safety inputs and its configuration of the secure I/O.
Please follow the universal specifications in Section 5.3.1.
Safety devices and equipment must be installed in comply with the safety instructions and
risk assessment (see Chapter 1).
All secure I/Os exist in pairs (redundancy) and must be kept in two separate branches. A
single I/O failure should not result in the loss of safety features. There are two fixed safety
inputs: Robotic arm emergency stop and protective stop. The robotic arm emergency stop
input is only used for the emergency stop of the device. The protective stop input is used for
all types of safety protection. The functional differences are as follows.
8.5.2.Dedicated security I/O
The robotic arm has been configured by default and can be operated without any additional
safety equipment, see the figure below.
8.5.2.1. Default Security Configuration
Emergency Stop
Protective Stop
Stops the movement
of the robotic arm
Reset
Program execution
Usage frequency
Not frequent
Stop
Suspend
Manual
Auto or manual
No more than
once per run cycle
Need reinitiation
Only releasing the brake
No
yes
yes