Is there a system variable i can use to prevent the toggling of Robot I/O when an e-stop is active? When i say robot I/O i am referring to the EE port. I'm asking this because I am wondering how to 'lock' a gripper in a safe manner to prevent unintended operation while the e-stop is active.
E-Stop & Robot I/O
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nerd484 -
April 11, 2018 at 4:36 PM -
Thread is Resolved
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You could write some background logic to monitor the E-Stop status and control the gripper accordingly. Write it in a loop and you will overwrite your program. There may be other ways as well...
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As far as I know, to really keep it safe, this should be done by means of the gripper's construction (electrics/mechanics), so that it remains in safe state on air/power supply failure.
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If you have a PLC, tie your e-stop input to disable your robot gripper output.
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If you have a PLC, tie your e-stop input to disable your robot gripper output.Or if Fanuc PMC inside controller. Just inline "e-stop ok" into output.
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I guess the question i am getting at is, when the robot sees and e-stop, the robot controller does not prevent the robot i/o (ee connector) from toggling. So to keep the gripper safe while in an e-stop condition, the only way i can see to prevent the gripper actuation is to use an interposing safety contact between gripper and the ee connector. But i can't believe this is the way that other provide a safety barrier for the gripper...
Hey nerd484, did you find a good answer to this question? I am trying to do the same thing. Thanks.
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hi rnakingoffice
Welcome to the robot forum
It's been more than three years since that question. Maybe you should ask the question opening a new thread and explaining more details
What is the meaning or your understanding of "gripper safe".?
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