Hi
In the status signals for safety, fence, SOP estop and TP estop are defined individually.
Where can I find the variables to monitor these?
(and also single chain status which I asked in another post)
Hi
In the status signals for safety, fence, SOP estop and TP estop are defined individually.
Where can I find the variables to monitor these?
(and also single chain status which I asked in another post)
Check variable $MOR.$safety_stat
The value must be decode though, according to the software reference manual is bit coded as follows:
1 MFS_EMGOP
2 MFS_EMGTP
4 MFS_DEADMAN
8 MFS_FENCE
16 MFS_ROT
32 MFS_HBK
64 MFS_EMGEX
128 MFS_PPABN
256 MFS_BELTBREAK
512 MFS_ENABLE
1024 MFS_FALM
I monitored the variable: the value changes when I pressed the TP E-STOP for example
$SCR.$chain_stat
Chain failure status
Bit 1 Chain 1 (+24V) failure
Bit 2 Chain 2 (0V) failure
$SCR.$chain_statChain failure status
Bit 1 Chain 1 (+24V) failure
Bit 2 Chain 2 (0V) failure
Interesting, I did see this variable yesterday but its status did not change? R30ia, r2000iB.
I checked again, and the single chain alarm isn't displayed, it just goes into fence open.
I didn't know the single chain fault could be turned off?
mor safety status did work though, so ill start on using that..
I guess move it to a group output to analyse the bits.
thanks
This is dual channel, so the failure condition occurs when one signal is not in sync with the other.
To simulate you can open one of the channel while the other is closed (and ON)
yes, that is what I was doing??
pulling off one channel, but it just came up with fence open not single chain??
is there a variable to ignore single chain?
(Ill go have a look at one of the other robots that I know single chain works.)
UO[8:TP Enabled] is convenient for the T1 teach pendant status specifically, as found in the Setup and Operations Manual.
I know this is an old thread, but it's the first Google result I got and it took me quite awhile before I discovered the simpler UO[8], which is all I needed for my application.