I’m looking for a way to get the status of the emergency stop button at the PolyScope (Teach-Panel) from the configurable safety outputs.
I know that it is possible to configure “Robot emergency stop”.
The problem with this is, that if I send an emergency stop command to the robot, the robot will also send me an emergency stop, even if the emergency stop button is not pressed at all.
I need a way to only get the emergency stop button so that I can evaluate the signal in my safety controller.
What we’ve done in the past is just letting the robot’s E-Stop output be the last signal in the chain. Something like “E-Stops OK” is driven from the Robot outputs. In this way, if any external E-Stop were to be pressed, the Robot output would turn off (Estops not OK) and if all others are fine but the robot pendent EStop was pressed, you still lose E-Stops OK. You can do a little logic if you had to in the safety controller to isolate it at that point. If you have all external E-Stops good, but not E-Stops OK, then you know it’s the pendent E-Stop that is pressed.
Thank you for your response Eric.
Its actually a good idea but does not work for me.
I need to send a collected emergency stop signal to another machine.
With this solution I would never have a “plain” signal because I always would have to acknoledge the error
to check if the emergency stop still persists.
→ I would turn in a circle and never be able to acknoledge the error.
Not a clean solution, but acceptable for me I did this:
Collected emergency stop signal but without cobot e-stop.
If I do not send this collected e-stop to cobot I evaluate if cobot sends me e-stop
→ if yes, e-stop is pressed at teach pendant on cobot.
→ I do not evaluate the signal if I already send e-stop to cobot
So in the worst case E-Stop 1 and E-Stop Cobot is pressed and I just get a message that E-Stop 1 is pressed.
If then E-Stop 1 is acknoledged, then the message E-Stop cobot is pressed will be shown.
Like I said, not a clean solution but I can live with that.