is there a possibility to link the activation of a safety boundary to a safe input? Let’s say I want to activate a certain safety boundary (or even combination of boundaries) when a certain safety input is high?
One potential approach to this would be to trigger reduced mode using a pair of safety inputs (you don’t necessarily have to have a change in speed in reduced mode) and then set up a safety boundary that is only active in reduced mode. So if your input has not been triggered, the robot would pass through the boundary. One drawback to this approach is that if the input is reset and the robot goes back to normal mode when beyond the safety mode, the system will give a safety violation, but this may be avoidable with the correct safety relay circuit.
ok, thanks. I’ll look into that.
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