DCS fences in T2 mode?

Hi all,

I‘ve been playing around with Dual Check Safety and someone wanted the robot to stop moving when the safety fence opens, unless In T1 mode. However, it seems to me that DCS is more connected to the teach pendant switch being on rather than a door signal itself. So for now, we‘re using BG logic to control this.

Is DCS a safer way to approach this problem? Or am I fine using BG logic?

Thanks in advance,

Tony

Quote from DS186

Regarding your question about "DCS fences in T2", you can easily create a safety function to allow the robot to move in T2 only when the fence ist closed.

How might I go about setting this up?

Quote from DS186

Program the below logic in your Safe I/O Connect menu to stop the robot with a category 1 stop in case T2 is active and fence is open:

SSO1 (C_SVOFF) = SSI2 (FENCE) OR !SSI9 (T2)

Thanks man, that helped me alot!