The safety device and equipment must be installed in accordance with the safety instructions
and the risk assessment in Chapter 1.
All safety I/Os are paired (redundant) and two separate branches must be retained. A single
failure should not cause loss of the safety function. There are two permanent inputs: emergency
stop and safeguard stop.
The emergency stop input should be applied to the emergency stop equipment only.
The safeguard stop input should be applied to all types of safety-related protective
equipments. The functional differences are shown below.
Emergency stop Safeguard stop
Motion stop of the robot Yes Yes
Program execution Stop Pause
Power supply of the robot Off On
Reset Manual Automatic or manual
Frequency of use Infrequent Once within each cycle
Requires re-initialization Brake released only No
Stop category (IEC 60204) 1 2
Performance level (ISO 13849-1) PLd PLd
The emergency stop output and other safety I/O functions may be set with the
configurable I/O.
Some examples about how to use the safety I/O are given in the section below.
DANGER:
1. Never connect the safety signals to a PLC which is not a
safety-related PLC with the improper safety level. Failure to
follow the warning may result in serious injury or even death as
certain safety stop function is invalid. Please separate the safety
interface signal from the general I/O interface signal.
2. All safety-related I/Os are constructed redundantly (two
independent channels). Keep the two channels independent so
that a single failure may not lead to loss of the safety function.
3. Safety functions must be verified before putting the robot
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