So in my limited mind a protective stop, fault, error, emergency stop etc. is a stop that is not planned, or scheduled.
It seems however that this is not the case.
The user manual gives a hint that High/Low when not running is the only option that changes the output when the program is paused. This is an answer to my question already, but should the setup be like this? In my way of thinking an unscheduled stop is also if the robot program is paused because of any outside event. And as far as I’m aware of there is no way of changing the stop/pause behavior.
Just to make things more unclear with the manuals defenitions of how the IO behaves, “High when running, low when
stopped” In this case, stopped means Stopped or paused…
Hello-
To provide a bit more context in terms of what a scheduled/unscheduled stop is defined as, see below.
Unscheduled stop is if any of the following occur: robot stop, fault, violation, runtime exception -which includes protective stop.
Neither Safeguard nor Emergency Stop will trigger Unscheduled Stop. Both are seen as “user initiated stops” (they are caused by the user E-Stopping or entering area), and are therefore not “unscheduled”.
I hope this helps to clarify and guide you to an answer!
It doesn’t really help me out a year later, but the “Low on unscheduled stop, otherwise High” does trigger from Emergency stop because it pauses the program. Not that I’ve testet that recently.
But I do appriciate an answer to this question finaly
“System Emergency stop” also has a strange behaviour like this where if you set safety IO to System Emergency stop on an Config input pair, and output pair it does not relay this signal forward from the input pair so you can’t use it in a chain of signals. Even though the state of the robot changes from “Running” to System emergency stop. For safety you need chains of things, not parallell things.
Hopefully we’ll see some changes to these states among other things that need improvment. I’m not even sure where to report issues anymore since the partner portal only answers quesitons, but doesn’t fix missing documentation etc.
