Doosan H2017 - 7.5.4 Normal I;O Setting

Doosan Robotics User Manual v2.6.1
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7.5.4 Normal I/O Setting
This function outputs various robot status signals through a single terminal. To set the Normal I/O, go
to the Robot Workcell and select Robot>Normal I/O.
• Single Output Setting
Signal Name
Description
Safe Torque Off (L)
 High: Robot is not in Servo Off, Emergency Stop state
 Low: Robot is in Servo Off or Emergency Stop state
Safe Operating Stop (L)
 High: Robot is not in Standby state
 Low: Robot is in Standby state, and standstill monitoring is
activated.
Normal Speed (L)
 High: Robot is operating at the reduced speed due to
external Reduced Speed Activation safety input
 Low: Robot is operating as normal speed
Reduced Speed (L)
 High: Robot is operating as normal speed
 Low: Robot is operating at the reduced speed due to
external Reduced Speed Activation safety input
Auto Mode (L)
 High: The robot is not in Auto Mode
 Low: The robot is in Auto Mode
Manual Mode (L)
 High: The robot is not in Manual Mode
 Low: The robot is in Manual Mode
Remote Control Mode (L)
 High: The robot is not in Remote Control Mode
 Low: The robot is in Remote Control Mode
Standalone Zone (L)
 High: The robot’s TCP is in a Collaborative Zone
 Low: The robot’s TCP is not in any Collaborative Zone
Collaborative Zone (L)
 High: The robot’s TCP is not in any Collaborative Zone
 Low: The robot’s TCP is in a Collaborative Zone
High Priority Zone (L)
 High: The robot’s TCP is not in any Collision Sensitivity
Reduction Zone and not in a High Priority Zone option
checked Custom Zone
 Low: The robot’s TCP is in a Collision Sensitivity
Reduction Zone or in a High Priority Zone option checked
Custom Zone
Tool Orientation Limit
Zone (L)
 High: The robot’s TCP is not in any Tool Orientation Limit
Zone
 Low: The robot’s TCP is in a Tool Orientation Limit Zone
Designated Zone (L)
This is used to confirm if the TCP (Tool Center Point) is inside
the user-defined Zone.
The Designated Zone signal defined on the Safety Output
setting UI can be selected from the Zone setting UI
 High: If the TCP is not inside any Zone linked with the
Designated Zone normal output
 Low: If the TCP is inside a Zone linked with the Designated
Zone noraml output
Task Operating (L)
 High: Task is not in operation
 Low: Task is in operation