It would be nice to have the option of outputting if the robot is Safeguard Stopped through the configurable safety outputs - just like it is possible for Emg. Stop. I need this feature to bring other HW to act accordingly and wait for the robot to be back from its safety stop.

You can use the Robot not Stopping Output It will go high when the robot is Safeguard Stopped or E-stopped

Thank you for your reply. I am aware of the signals existence, it is just not exactly what I am searching for. From the documentation: “When the robot arm has been requested to stop, some time will pass from the request until the arm stops. During this time the signal will be high.” So it will …

Oh, I see the description in the user manual is inconsistent. The description in section 2.5.2 is correct high signal when the robot is stopped or in the process of stopping due to an emergency stop or safeguard stop. Otherwise it will be logic low. The signal is not affected by what the user does…

Ohh… that’s nice to know. In that case it becomes a lot more useful! I can use that for the time being, thank you!

hi again, I’ve now tried to make it work using the ‘Robot Not Stopping’ output. Only problem is that it does not toggle the signal when I bring it into a protective stop. I’ve forced it into the protective stop by moving it around both by jog and using a program that moved it back and forth where…

Robot Not Stopping is not triggered by these kinds of protective stops. Could you use an IO Action - sets an output high when the program is running, and low when it is not?

That is not possible for my application because I on the fly change program so it would give me a lot of false stops. But I suppose it highlights the need for a Emg. Stop like feature that triggers for both protective and Emg. Stops.

Are there any plans to implement this feature? It would be really nice to have because the robot is not really collaborative if the other stop categories such as the protective stop in cases like collision can not be propagated safely to other devices which need to act accordingly.

@lcs You can try monitoring for protective stops through the RTDE interface, or using the modbus registers , register 261 holds the bool value if the robot is or is not in a protective stop state. I do agree, it would be nice to select this feature as you do for an emergency stop in the safety I/O …

Safeguard Stopped as Electrical Output

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lcs October 17, 2018, 11:40am 6

I created a topic on the inconsistencies here.

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Safeguard Stopped as Electrical Output

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