5. Safety I/O signals

 

 Safety I/O could be assigned by using HRSafeSpace. Input and Output signals could be configured up to 8 respectively.

 

Table 5‑1 Safety I/O parameters

Safety I/O parameter: 8 inputs/ouputs
Parameter name	Value	Description
IN0~IN3
Input signal allocation	0~25	Activation signal allocation 0=None 1=Emergency stop 2=Reference switch input 3=Reduced speed monitoring 4=Safe Operating Stop(Group 1) 5=Safe Operating Stop(Group 2) 6~17=Cartesian space1~12 18~21=Joint space1~4 22=Tool number(Bit 0) 23=Tool number(Bit 1) 24=Tool number(Bit 2) 25=Tool number(Bit 3)
IN4~IN7
Input signal allocation	0~21	Activation signal allocation 0=None 1=Emergency stop 2=Reference switch input 3=Reduced speed monitoring 4=Safe Operating Stop(Group 1) 5=Safe Operating Stop(Group 2) 6~17=Cartesian space1~12 18~21=Joint space1~4 ※   Activation signals for tool number can’t be allocated to the IN4~7.
OUT0~ OUT7
Output signal allocation	0~50	Monitoring signal allocation 0=None 1=STO activation status 2=Violation alarm 3= SafeSpace activation status 4= Reduced speed activation status 5= SOS(Group1) activation status 6= SOS(Group2) activation status 7=Global TCP speed violation 8=Cell area violation 9=SOS(Group1) violation 10=SOS(Group2) violation 11~18=Joint speed violation(Joint1~8) 19~30=Cartesian space violation(Space1~12) 31~34=Joint space1~4 violation 35~46=Cartesian space speed violation(Space1~12) 47~50=Joint space speed violation