Safe variable in program

  • Can anyone please tell what or where is safe variables can be read?


    For Eg,


    Safe monitoring space 1 is active or not= Variable name? So that I can use it in program
    is safety is enabled= Variable name? So that I can use it in program


    I am sending the status to PLC through profisafe and he is reading the standard safety bytes order.


    But I need to use it in robot program.


    Thanks in advance :merci:

  • AD
  • see section 9 of your safe operation documentation (assuming you have safe operation 3.2):


    $SR_ACTIVETOOL Number of the active safe tool
    $SR_AXISSPEED_OK Reduced axis acceleration exceeded
    $SR_CARTSPEED_OK Cartesian velocity exceeded
    $SR_DRIVES_ENABLE Enabling of the drives by the safety controller
    $SR_MOVE_ENABLE Enabling by the safety controller
    $SR_RANGE_ACTIVE[1] ... $SR_RANGE_ACTIVE[16] Active workspaces
    $SR_RANGE_OK[1] ... $SR_RANGE_OK[16] Workspace vioaltion state
    $SR_SAFEMON_ACTIVE State of safe monitoring
    $SR_SAFEOPSTOP_ACTIVE[Index]
    $SR_SAFEOPSTOP_OK Violation of an externally activated operational stop
    $SR_SAFEREDSPEED_ACTIVE State of the monitoring of the reduced velocity


    Fubini

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