Safety signal in the program

Hello,

I have a robot in Profisafe, I want to manage safety areas with the Safe move option.

I would like to make sure that when the Robot is only in certain areas (safe) I give my consent to enable the outputs to open and close the gripper.

through the visaual safemove on robostudio I made sure that when the robot is within a certain area I raise a safe signal to 1, The problem is that I do not know how to use this signal within the program because it cannot be called.

I don't want to use the World zones because they are not safe, I have a 100 kg gripper and I don't want anyone to open it while the robot is moving

The robot is master of the gripper and manages 2 outputs through the profinet network, one to open and one to close the gripper.

how can i do it?

Thanks

Quote from jstolaruk

You can access the safemove signals by cross-connecting them to a internal signal. If you have RobotStudio, look in Configuration - I/O system - Cross Connection.

Thanks for the reply.

I had already tried but I can't call a signal declared inside the visual safeMove inside the cross connection

Quote from jstolaruk

I've never run into what you are describing, all of the signals I know of are pre-declared. Can you provide an example?

I found the problem now I do cross connection, the problem was that I was doing these tests on an old backup on RS 2019 and when I opened the safe configuration it was not synchronized with the controller as soon as I clicked write configuration to controller, I found the signals in the signal view

how now can I manage this signal? the cross conncection make sure that when for example the signal fdo_ok_zone_02 is at 1 also the signal di_inside_area is at 1.

in the program i can do in this way:

IF di_inside_area then

setdo do_unlock_gripper

ENDIF

But in MANUAL MODE the operetor can force the signal do_unlock_gripper also if the robot is not in the safety area.

How can i prevent this?