Appendix 2: Classification Of Functions Using External Input/Output Signals - Mitsubishi Electric RV-8CRL Standard Specifications Manual

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
Safety signal
Non-safety signal
Appendix-110 Classification of functions using external input/output signals
Function
Emergency stop input
Mode selector switch input
Door switch input
Emergency stop output
Mode output
Robot error output
Additional axis synchronization
output
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
Switches the controller mode between MANUAL and AUTOMATIC.
Receives the status of the switch installed on the door of the safety fence to
detect the opening of the door.
Monitors whether the robot is in the emergency stop state.
Monitors whether the robot operates in MANUAL or AUTOMATIC mode.
Monitors the error status of the robot.
Synchronizes the state of the additional axes (servo ON/OFF) with that of
the robot arm.
For details, refer to Page 52, "3.8 Additional axis synchronization
Description
diagnosis)".
output".