Special Safety IO

Overview

The digital inputs and outputs of the Lexium Cobot Controllers can be configured as a Special Safety IO to control the safety-related functions and monitor the safety-related status of the Lexium Cobot. This Special Safety IO signal is a two-channel signal.

NOTE: Due to the limited number of digital I/O connections available for the Lexium Cobot Compact Controller, the number of safety-related inputs and outputs used simultaneously is restricted to two.

To set special safety-related inputs and outputs, go to Settings > Safety Setting > Special Safety IO.

Setting the Special Safety IO

To set a Special Safety IO, perform the following steps:

Step

Action

1

Disable and power off the Lexium Cobot Arm.

2

Go to Settings > Safety Setting > Special Safety IO.

3

At the safety-related input or output to be set, use the dropdown menu to select the required configuration. For further information on the different configurations, refer to Description of the Safety-Related Signals.

4

Click Confirm.

Result: The Special Safety IO is set.

Description of the Safety-Related Signals

The following table presents the available safety-related signal configurations that you can select. For further information, refer to Functional Safety in the Lexium Cobot Hardware Guide.

Name Action logic Direction

Additional Emergency Stop Input

When the input signal is FALSE, the Lexium Cobot Arm performs an emergency stop.

Input

Additional Protective Stop Input

When the input signal is FALSE, the Lexium Cobot Arm performs a protective stop.

Input

Protective Stop Resetting Input

The protective stop is reset by the rising edge (FALSE > TRUE) of this signal.

Input

Reduced Mode Input

When the input signal is FALSE, the Lexium Cobot Arm switches to reduced mode.

Input

Three Position Enable Input

When the input signal is TRUE, the Lexium Cobot Arm can be moved in manual mode.

Input

Emergency Stop Button State Output

When the emergency stop pushbutton on the Control Stick is pressed, the output signal is FALSE.

Output

System Emergency Stop State Output

When the Lexium Cobot system is in emergency stop state, the output signal is FALSE.

Output

System Protective Stop State Output

When the Lexium Cobot system is in protective stop state, the output signal is FALSE.

Output

Robot Motion State Output

When the Lexium Cobot Arm is in motion, the output signal is FALSE.

Output

Robot Not-Stopping State Output

When an emergency stop or protective stop is triggered, causing the Lexium Cobot Arm to stop or to decelerate to a full stop, the output signal is TRUE.

Output

Robot Reduced Mode Output

When the Lexium Cobot Arm is in reduced mode, the output signal is FALSE.

Output

Robot Not in Reduced Mode

When the Lexium Cobot Arm is not in reduced mode, the output signal is FALSE.

Output

For further information on the safety-related signals, refer to Functional Safety in the Lexium Cobot Hardware Guide.

Viewing the Special Safety IO Help

To display a description of the safety-related signals in the software, click the Help icon.

Result: The Special Safety IO help is displayed.