Appendix-106 Classification of external I/O functions
7 Appendix
Appendix 2: Classification of external I/O functions
Take note of the following information regarding external I/O functions.
Table 7-1: Classification of external I/O functions
Classification Function Description
Safety signals Emergency stop input This function detects emergency stop inputs. The STO function will meet
Category 4, Performance Level e standards when the safety diagnosis
function of the emergency stop input circuit is enabled.
This product meets Category 3, Performance Level d at factory settings.
To use this product at a performance level of Category 4, Performance Level
e, refer to Page 107, "Appendix 3: Safety diagnosis function (test pulse
diagnosis)" and set the parameters accordingly.
Mode selector switch input This function switches the control mode between manual and automatic.
Door switch input This function checks the state of machine guard door switches to detect
whether machine guard doors are open.
Non-safety signals Emergency stop output This function monitors the emergency stop state of the robot.
Mode output This function monitors the manual and automatic operation modes.
Robot error output This function monitors the error state of the robot.
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