11 Safety Function
11.3 Safety Logic Circuit
11-54
HW1485509
HW1485509
3. Select the input relay and reverse its Input Type (i.e. change from
Normally Open to Normally Closed) in the Details panel to turn OFF
the MSOUT54 request signal.
4. Perform Readback Write process to save changes. MSOUT54
should now be disabled (see below), signifying that PFL is disabled.
The green light on the Robot's wrist should be OFF.
5. Perform *desired operation* with PFL disabled.
6. Restore PFL to its original state once the desired operation(s) are
complete!
DANGER
• Disabling collaborative operation may cause harm to people and
should only be done after thorough risk assessment.
• When presence detection sensor is used, safety distance as per ISO
13855 must be ensured.
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