Doosan A0509 Installation Manual page 74

If the configurable digital I/O is used as safety I/O, two neighboring I/O terminals, such as O01 & O02,
... , O15 & O16, I01 & I02, ... I15 & I16, can use identical safety signals to form a dual safety I/O.
While the Safety Contact Output Terminal (TBSFT) can only be connected with dry contact type
signals, input set as safety I/O can connect with both contact and voltage type signals Output set as
safety I/O outputs voltage signals, but it can also output contact type signals by adding an external
relay.
The following is an example of connecting a safety device for operation.
•
Connecting an emergency switch (contact signal) as a safety input terminal
•
Connecting a light curtain (voltage signal) as a safety input terminal (common ground)
Doosan Robotics Installation(A-Series) Manual v1.8 74