Safety Home Position

Table 3‑13 Safety home Position Implement logic

Trigger condition	Output response	Reset condition
If the “home position parameter” is configured successfully (refer to section 4.8), and the robot shall be standstill in the “home” position, and the SHP function triggered. The configurable safety output activated to inform that the robot is in the “home position”. Refer to 4.9.	The configurable safety output activated	The robot leaves the home position.