1.1 Overview ................................................................................................................................................... 1-1

1.2 System configuration .............................................................................................................................. 1-1

1.2.1 Combination of software version ..................................................................................................... 1-2

1.3 Functional block diagram ....................................................................................................................... 1-2

1.4 Specifications ........................................................................................................................................... 1-3

1.5 Risk assessment ...................................................................................................................................... 1-4

1.5.1 Residual risks (common) ................................................................................................................... 1-4

1.5.2 Residual risk (for each function) ...................................................................................................... 1-4

2 Installation ................................................................................................................................................ 2-6

2.1 Confirming the product ........................................................................................................................... 2-6

2.2 Installation and connection .................................................................................................................... 2-6

2.2.1 Fixing of the extended safety unit .................................................................................................... 2-6

2.2.2 Connecting with the robot controller ............................................................................................... 2-7

2.2.3 Connecting cables to the wiring connector .................................................................................... 2-8

2.2.4 Connecting the wiring connector to the extended safety unit ...................................................... 2-9

2.3 Check items .............................................................................................................................................. 2-9

2.4 Long life parts ........................................................................................................................................ 2-10

2.5 Maintenance ........................................................................................................................................... 2-10

3 Signals and wiring ................................................................................................................................. 3-11

3.1 Description of signals ............................................................................................................................ 3-11

3.1.1 Electrical specifications ................................................................................................................... 3-11

3.1.2 Signal operation ............................................................................................................................... 3-12

3.2 Connectors and signal assignment ..................................................................................................... 3-13

3.3 Input signal connection example ......................................................................................................... 3-14

3.4 Measures against static electricity / noise .......................................................................................... 3-15

4 Safety monitoring function .................................................................................................................. 4-16

4.1 Safety monitoring function overview ................................................................................................... 4-16

4.2 Startup ..................................................................................................................................................... 4-16

4.2.1 Connecting RT ToolBox2 ................................................................................................................. 4-16

4.2.2 Password setting .............................................................................................................................. 4-16

4.2.3 Enable/disable .................................................................................................................................. 4-19

4.2.4 Parameter setting ............................................................................................................................. 4-19

4.2.5 Test operation ................................................................................................................................... 4-21

4.3 Safety monitoring function ................................................................................................................... 4-22