Dobot CR20A - Page 59

Dobot CR A Series User Guide
Issue V1.3 (2023-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Safety input
SI1~SI10 interfaces are described below.
Screen
Definition
SI1, SI2
Emergency stop input
SI3, SI4
Protective stop input
SI5¬SI10
You can configure in dual circuits to emergency stop input (no status output), protective
stop reset input and reduced mode input through the software (no configuration by
default).
Emergency stop input
The emergency stop input is an emergency stop interface to connect to external emergency stop
devices.
By default, the emergency stop input is the normally closed signal input of high level. Low
level triggers the robot to enter the emergency stop status. This function will trigger the emergency
stop status output by default, which may lead to emergency stop self-locking in some circumstances.
To avoid this case, you can modify the configurable SI interface to “User emergency stop input (no
status output)” in the software, and use the corresponding interface as the user emergency stop input.
SI1 and SI2 are emergency stop inputs. The wiring for connecting one or more emergency stop
switches is shown below.
Figure 6.12 SI connected to one emergency stop switch