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configured as the NPN input or PNP input.
8.3.2 Safety I/O
This section introduces the dedicated safety input. Observe the common specifications in
Section 4.3.1.
The safety device and equipment must be installed in accordance with the safety instructions
and the risk assessment in Chapter 1.
All safety I/Os are paired (redundant) and two separate branches must be retained. A single
failure should not cause loss of the safety function. There are two permanent inputs: emergency
stop and safeguard stop.
The emergency stop input should be applied to the emergency stop equipment only.
The safeguard stop input should be applied to all types of safety-related protective
equipments. The functional differences are shown below.
Motion stop of the robot
Program execution
Power supply of the robot
Reset
Frequency of use
Requires re-initialization
Stop category (IEC 60204)
Performance level (ISO 13849-1)
The emergency stop output and other safety I/O functions may be set with the
configurable I/O.
Some examples about how to use the safety I/O are given in the section below.
ELITE ROBOT
Emergency stop
Yes
Stop
Off
Manual
Infrequent
Brake released only
1
PLd
Safeguard stop
Yes
Pause
On
Automatic or manual
Once within each cycle
No
2
PLd
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