I’m using interpreter mode to run some externally generated scripts, but I am having issues when entering a safeguard stop mode. Instead of coming to a smooth stop when the safeguard stop is issued while running the interpreter mode script, the robot comes to a hard stop, and the robot program is also stopped instead of being stopped. The program does not resume after the safeguard stop is cleared. If the safeguard is triggered when running other portions of the main program (non-interpreter) the programs pauses and resumes as expected.
Does interpreter mode not support safeguard stops? I seem to recall this working in the past, but it was likely on a previous firmware version.
Looking thru the logs I see this error when the safeguard is triggered I see this:
2025-03-31_12:07:26:77559 01:22:31:592 WARNING - Protective stop. Error code: C153A4
2025-03-31_12:07:26:77564 01:22:31:594 INFO - New safety mode: SAFETY_MODE_PROTECTIVE_STOP
2025-03-31_12:07:26:77566 01:22:31:596 INFO - Runtime state change: from PROGRAM_STATE_PAUSING to PROGRAM_STATE_STOPPING
2025-03-31_12:07:26:79987 01:22:31:622 INFO - Runtime state change: from PROGRAM_STATE_STOPPING to PROGRAM_STATE_RETRACTING
2025-03-31_12:07:26:90473 01:22:31:720 INFO - Runtime state change: from PROGRAM_STATE_RETRACTING to PROGRAM_STATE_STOPPED
What I don’t see near this event is the safeguard events like this:
2025-03-31_12:05:32:68434 01:20:37:502 INFO - SCB::logSafetyStateChange: SafetyA safety state changed from RUNNING to SAFEGUARD_STOP
2025-03-31_12:05:32:68439 01:20:37:502 INFO - SCB::logSafetyStateChange: SafetyB safety state changed from RUNNING to SAFEGUARD_STOP
2025-03-31_12:05:32:68441 01:20:37:502 INFO - New safety mode: SAFETY_MODE_SAFEGUARD_STOP
2025-03-31_12:05:33:77306 01:20:38:590 INFO - SCB::logSafetyStateChange: SafetyA safety state changed from SAFEGUARD_STOP to RUNNING
2025-03-31_12:05:33:77326 01:20:38:590 INFO - SCB::logSafetyStateChange: SafetyB safety state changed from SAFEGUARD_STOP to RUNNING
2025-03-31_12:05:33:77329 01:20:38:590 INFO - New safety mode: SAFETY_MODE_NORMAL
These events appear when not running the interpreter mode scripts.
Thanks in advance!