User Manual

50
• Dedicated safety I/O.
• Configurable I/O.
For the specific configuration functions of IO, see the following table:
Configurable Function
CI0-CI7
（Configurable Input）
DI0-DIO7
（Digital Input）
General Input
Yes
Yes
Stop Moving
Yes
No
Safeguard Reset
Yes
No
Offline Task
Yes
Yes
Manual Mode
Yes
Yes
Reduced Mode
Yes
No
Enable Robot
Yes
Yes
Configurable Function
CO0-CO7
（Configurable Output）
DO0-DO7
（Digital Output）
General Output
Yes
Yes
Motion Stopped
Yes
Yes
Robot Moving
Yes
Yes
Error
Yes
Yes
Warning
Yes
Yes
Collision
Yes
Yes
Manual Mode
Yes
Yes
Reduced Mode
Yes
Yes
Offline Task Running
Yes
Yes
Robot Enabled
Yes
Yes
Emergency Stop is Pressed
Yes
Yes
It is very important to install xArm according to the electrical
specifications.
All the I/O must comply with the specifications. The digital I/O can be
powered by a internal 24V power supply or by an external power supply
by configuring the power junction box. In the following figure, PWR is