EN UG-020 Link 6 user guide r1.0 81
Safety input function name Description
Protective Stop with
Automatic Resume
The robot pauses its task automatically and comes to a stop category 2.
After the signal is released, the robot resumes operation immediately.
When the input safety function is triggered, the program
automatically pauses running.
After the fault is cleared or the intrusion is gone, the robot resumes
operations.
The robot must be in one of two operating modes.
• Automatic mode
• Hold-to-Run mode
Reduced mode The reduced speed limits are enforced in all operating modes as long as the
signal is active. If the robot is moving at a speed higher than the reduced
speed limit when reduced mode is triggered, the robot slows down and
complies with the reduced speed.
The robot does not start operating in normal mode when the signal
is released.
When there is an electrical system or device fault, the robot comes
to a category 0 stop.
Enabling device
Connect an external enabling device to the controller and assign the
corresponding channel the enabling device behavior. When one enabling
device is pressed, regardless of where it is, the robot is enabled.
CAUTION: It is possible that more than one enabling device
is connected. However, only one enabling device should be
used at a time.
When there is an electrical system or device fault, the robot
comes to a category 0 stop.
Acknowledge Automatic
Mode
The channel overrides the ACK button on the controller when Acknowledge
Automatic Mode is not set on the Controller pane of the Robot page.
When the robot is operating in Automatic mode, the acknowledge
safety input overrides the need to press the ACK button on the
controller; the Acknowledge Automatic Mode dialog never launches
at the start of running a program in Automatic mode.
Input signals are compatible with devices that implement OSSD behavior. The pulsed Output
Signal Switching Device (OSSD) signals are filtered with the period is less than 3 ms.
Safety outputs
Each output safety function can be assigned through KortexWebApp to one or more channels.
When a channel is assigned to a safety output, that safety output is still available on the other
channels.
Access safety outputs by tapping Safety > Safety I/Os > Outputs.
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