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opened, the robot is stopped. Please refer to the figure below (the software is required to
configure the safeguard stop function cooperatively).
This configuration is only intended for application where the operator cannot go through the
door and close it behind him. The configurable I/O may be used to set a reset button outside the
door, as to reactivate motion of the robot.
8.3.3 General purpose digital I/O
This section introduces the general purpose 24V I/O. The common specifications in section
4.3.1 must be followed. The general purpose I/O may be used to directly drive the equipment,
such as the pneumatic relay, or to communicate with other PLC systems. All digital outputs may
be disabled automatically when program execution is stopped. Refer to Part II for details. In this
mode, the output shall be the high level all the time when the program does not run. Several
examples are shown in the section below. The regular digital outputs are taken in these examples,
however this type of outputs may also be used if the configurable output is not configured to
DANGER:
The robot shall resume motion automatically when the safeguard
signal is re-established. Do not use this configuration if the signal
can be re-established from the inside of the safety perimeter.
Page 43 of 130
Doc No.：T202001005
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