13.2 I/O Tab
WARNING:
1. Make sure to use the correct installation settings (e.g. Robot
mounting angle, weight in TCP, TCP offset). Save and load
the installation files along with the program.
2. Make sure that the TCP settings and the robot mounting set-
tings are set correctly before operating the Freedrive but-
ton. If these settings are not correct, the robot arm will move
when the Freedrive button is activated.
3. The freedrive function (Impedance/Backdrive) shall only be
used in installations where the risk assessment allows it.
Tools and obstacles shall not have sharp edges or pinch
points. Make sure that all personnel remain outside the reach
of the robot arm.
13.2 I/O Tab
On this screen you can always monitor and set the live I/O signals from/to the
robot control box. The screen displays the current state of the I/O, inluding during
program execution. If anything is changed during program execution, the program
will stop. At program stop, all output signals will retain their states. The screen is
updated at only 10Hz, so a very fast signal might not display properly.
Configurable I/O’s can be reserved for special safety settings defined in the safety
I/O configuration section of the installaton (see 10.13); those which are reserved
will have the name of the safety function in place of the default or user defined
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
II-37 CB3
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