Mitsubishi Electric CR800-R Instruction Manual page 35

・Assigning safety connection status output signals
To use a safety connection establishment status output signal and safety connection disconnection status output
signal, assign them. The robot controller cannot run programs and turn ON the servos unless safety connection
(safety communication with the safety programmable controller) is established. The status whether safety
connection is established can be checked with a state variable or dedicated signals (Refer to "4.7.1 Safety
connection".).
Caution
Caution
Fig. 4-7: Safety connection establishment status output signal
Safety IO and safety communication cannot be used together.
When the origin of the robot is not configured, the safety monitoring functions cannot be
activated even when the function is enabled. Configure the origin of the robot before
enabling the safety monitoring functions.
4 SAFETY MONITORING FUNCTIONS
Startup and Basic Configuration 4-23