UFactory xArm 5 - Page 78

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【In motion】
● When the robotic arm is in motion, the output is low. The robotic arm outputs a
high level when in a fixed position. This safety related IO will come in pairs.
【Error】
● When the robotic arm reports an error, the output is low.
Otherwise, the output is high.
【Warning】
● When the robotic arm issues a warning, the output is low.
Otherwise, the output is high.
【Collision】
● When the robotic arm reports an error of collision, the output is low.
Otherwise, the output is high.
【On manual mode】
● When the Manual Mode is turned on, the output is low.
Otherwise, the output is high.
【Offline task running】
● When the robotic arm is running the offline projects, the output is low.
Otherwise, the output is high.