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10.13.2 Output Signals
For the output signals the following Safety functions can be applied. All signals return to low
when the state which triggered the high signal has ended:
System Emergency Stop Low signal is only given when the safety system has been trig-
gered into an Emergency Stopped state by the Robot Emergency Stop input or Emergency
Stop Button. To avoid deadlocks, if the Emergency Stopped state is triggered by the System
Emergency Stop input, low signal will not be given.
Robot Moving A low signal is given whenever the robot arm is in a mobile state. When the
robot arm is in a fixed position, a high signal is given.
Robot Not Stopping The signal is High when the robot is stopped or in the process of
stopping due to an emergency stop or safeguard stop. Otherwise the signal is logic low.
Reduced Mode Sends a low signal when the robot arm is placed in Reduced mode or if the
safety input is configured with a Reduced Mode input and the signal is currently low. Other-
wise the signal is high.
e-Series
NOTE:
• After the Safety I/O configuration with Three-Position
Enabling Device enabled is confirmed, the Welcome
screen is automatically shown. The Welcome screen is also
automatically displayed when the operational mode changes
from Programming to Running.
• The physical mode selector, if used, must completely adhere
to ISO 10218-1: article 5.7.1 for selection.
• The 3-position switch, along with its behavior, performance
characteristics and operation, must thoroughly comply with
ISO 10218-1: article 5.8.3 for an enabling device.
NOTE:
External machinery obtaining the Emergency Stop state from
the robot through System Emergency Stop output must be
complying with ISO 13850. This is particularly necessary in setups
where the Robot Emergency Stop input is connected to an external
Emergency Stop device. In such cases, the System Emergency
Stop output will become high when the external Emergency Stop
device is released. This implies that the emergency stop state at
the external machinery will be reset with no manual action needed
from the robot's operator. Hence, to comply with safety standards,
the external machinery must require manual action in order to re-
sume.
II-20
10.13 Safety I/O
Version 3.11
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