Doosan H2017 - 7.5.3 Safety I;O Setting

Doosan Robotics User Manual v2.6.1
86
7.5.3 Safety I/O Setting
This function inputs/outputs safety-related signals through a redundant terminal. If a signal that is
different from the redundant safety input or output signal is detected, the system determines whether it
is a short circuit or hardware defect and stops the robot with STO Stop Mode. To set the Safety I/O, go
to the Robot Workcell and select Robot > Safety I/O.
• Safety Input Setting
Signal Name
Description
Emergency Stop (L)
It is an interface to receive emergency stop signal from
peripheral device, or connect additional emergency stop
switches.
 High: Normal operation
 Low: It stops the robot according to the stop mode setting for
Emergency Stop at the Safety Stop Mode.
Emergency Stop – No
Loopback (L)
It is an interface to receive emergency stop signal from
peripheral device, or connect additional emergency stop
switches. This signal doesn’t activate ‘Emergency Stop –
excl. No Loopback Input’ safety outp
 High: Normal operation
 Low: It stops the robot according to the stop mode setting
for Emergency Stop at the Safety Stop Mode.
Protective Stop (L)
It can be linked with Safeguarding Devices such as safety
matts, light curtains and laser scanners.
 High: Normal operation
 Low: It stops the robot according to the stop mode setting for
Protective Stop at the Safety Stop Mode.
Protective Stop – STO(L)
 High: Normal operation
 Low: Immediately cuts the motor power and engages the
brakes to force the robot to stop.
Protective Stop – SS1(L)
 High: Normal operation
 Low: Cuts off the motor power and engages the brakes after
controlled stop.
Protective Stop – SS2(L)
 High: Normal operation
 Low: Position is maintained with power supplied to the
motor and the brake disengaged after controlled stop.
Protective Stop(L) - Auto
Reset & Resume (R)
Unlike the other Protective Stop, Interrupted state can be
reset and automatic operation can be resumed automatically
by this signal. This enables automatic restart after Safety-
rated Monitored Stop described in ISO TS 15066.
 Low: Follow Protective Stop – SS2.
 Rising (Low to High): the task resumes automatically
without manual reset or resume.
Warning
Resuming automatic operation without manual intervention can
be dangerous,