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8.1 Overview
This chapter describes all electrical interfaces of the collaborative robot. Examples are given
for most types of I/Os. The term "I/O" refers to both digital and analog control signals of an
import interface.
• Controller I/O
• Ethernet
• Power supply connection
• Robot connection
• Tool I/O
The warnings and cautions in next section are related to the four groups of interfaces, please
comply with these matters.
8.2 Electrical Warnings and Cautions
Observe the following warnings and cautions when the robot application is designed and
installed. Furthermore, observe these warnings and cautions as well when implementing
maintenance.
Chapter 8 Electrical Interface
DANGER:
1. Never connect the safety signals to a PLC which is not a
safety-related PLC with the proper safety level. Failure to follow the
warning may result in serious injury or even death as certain safety
stop function is invalid. Separate the safety interface signal from the
general I/O interface signal.
2. All safety-related signals are constructed redundantly (two
independent channels). Keep the two channels independent so that a
single failure would not lead to loss of the safety function.
3. Some I/Os inside the control box may be configured as the normal
I/Os or the safety-related I/Os. Please read through Section 4.3.
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