Collaborative Robot User Manual
Installations and Commissioning
Copyright © SIASUN Co., Ltd. 2019
Document Version 3.0 (2019.01)
SIASUN Proprietary and Confidential Information
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The emergency stop input interface is a normally closed interface. If the
emergency stop button is pressed, the emergency stop switch is off and the system
executes the emergency stop response action and outputs 24V in the emergency
stop status feedback output interface.
I/O expansion port
I/O expansion port refers to common DI and DO ports provided by the control
box for external input and output, which are defined in detail as follows:
Port number
Signal
1
Robot lock
2
Run program
3
Purse program
4
Stop program
5
Reserved
6
Reserved
7
DI1
8
DI2
9
DI3
10
DI4
11
DI5
12
DI6
13
DI7
14
DI8
15
Locked status
16
Program running status
17
Standstill status
18
Purse status
19
End of program
20
Error status
21
DO1
43
DO2
45
DO3
47
DO4
49
DO5
51
DO6
53
DO7