speaking from experience, i expected once that $USER_SAF would be tied directly to safety gate. But it has one quirk, in T1 or T2 enabling deadman switch sets $USER_SAF to True. So keep an eye on that.
Operator Safety / Gate Open I/O point?
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x9tech -
March 13, 2015 at 11:49 PM -
Thread is Resolved
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speaking from experience, i expected once that $USER_SAF would be tied directly to safety gate. But it has one quirk, in T1 or T2 enabling deadman switch sets $USER_SAF to True. So keep an eye on that.
Hm... yes, ISTR seeing that as well. Probably $USER_SAF is (X11.Opsafe OR ((T1 or T2) AND Deadman). Which makes sense -- the Deadman has no effect in EXT/AUT, and Operator Safety doesn't disable the robot in T1/T2.
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