Safety Limit Position

Table 3‑14 Safety Limit Position Implement logic

Trigger condition	Output response	Reset condition
Any joint position value is exceeding by Minimum Position + 5° or Maximum Position - 5°(Refer to the “Safety Parameters - Joint Safety Parameters” chapter), the SS2 protection triggered.	Trigger SS2 if fault detected.	Refer to the “Safety Functions - Bypass Position Related Safety Functions” chapter
Any joint position value is exceeding by Minimum Position or Maximum Position (Refer to the “Safety Parameters - Joint Safety Parameters” chapter), the safety controller performs the STO function	Trigger STO/SBC if fault detected.