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13.2 I/O Tab
13.2 I/O Tab
On this screen you can always monitor and set the live I/O signals from/to the robot control
box. The screen displays the current state of the I/O, including during program execution. If
anything is changed during program execution, the program will stop. At program stop, all
output signals will retain their states. The screen is updated at only 10Hz, so a very fast signal
might not display properly.
Configurable I/O's can be reserved for special safety settings defined in the safety I/O configu-
ration section of the installation (see 10.13); those which are reserved will have the name of
the safety function in place of the default or user defined name. Configurable outputs that are
Version 3.11
WARNING:
1. Make sure to use the correct installation settings (e.g. Robot
mounting angle, weight in TCP, TCP offset). Save and load
the installation files along with the program.
2. Make sure that the TCP settings and the robot mounting set-
tings are set correctly before operating the Freedrive button.
If these settings are not correct, the robot arm will move when
the Freedrive button is activated.
3. The Freedrive function (Impedance/Backdrive) shall only
be used in installations where the risk assessment allows
it. Tools and obstacles shall not have sharp edges or pinch
points. Make sure that all personnel remain outside the reach
of the robot arm.
II-37
e-Series
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