© Copyright 2017
This documentation – also in part – may be reproduced or made available to third parties only with the
express approval of YASKAWA Europe GmbH „Robotics Division“.
We have checked the content of this publication for compliance with the hardware described.
Nevertheless, discrepancies cannot be ruled out. Therefore, we cannot guarantee full compliance.
However, the information given in this publication is checked regularly and any necessary corrections
will be made in subsequent editions.
Subject to technical modifications.
Created on: 2017-08
Revision: 04
Document number: E1102000214GB04 Author: WOE
Changes made in revision:
Rev. 01: Document created from the original RE-CTO-A221.1
Rev. 02: Revised version of the original RE-CTO-A221.2 (2017-02)
Rev. 03: Add the manual (document no.: ME00115EN-00) (2017-03)
Rev. 04: Revised version of the original RE-CTO-A221.3 and RE-CTO-A221.4 (Chapter:
2.4 "MOTOMAN Safety", 4.2.4 "Installation options", add a new chapters 9.26.3.1 "Full
speed mode", 9.26.3.2 "Switching display of system and user section", 9.26.11 "Output
signal", 9.26.20 "GP safety output monitoring signal" and 9.29.1 "Connecting the dummy
connector"
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