Retrieve contact stop statues

Hello everyone,

First of all, I searched on this forum for similar thread, but I didn't find anything to help.

So, I want to retrieve the contact stop statues of my fanuc CR7-ia/L, if it's on the "SAFE" state or on the "STOP" state. I want these statues to be retrieve in outputs.

If you're wondering why I want to do this, it's because every time I start up my robot the contact stop is on "STOP" and I want to confirm the payload to set it on "SAFE" and I want it to be on output because, then I could confirm my payload with the help of my HMI. So whenever the contact stop is on "STOP", my HMI will see that my DO will be on or off, depends on which state I will be working on. Then, confirm my payload by setting a DI to ON.

Further information of my robot if needed : CR-7iA/L V9.30P/24 System R-30iB Mate Plus

Thanks for reading my request.

Hello,

Just to tell you that with the help of my local fanuc support, we found this solution bellow :

To retrieve the contact stop statue with a DO, we need to use this variable "$CR_VAR[1].$STATE" into a BG Logic.

0: contact stop is disabled on screen, 1: SAFE, 2: STOP, 3: DSBL, 4: ESCP

And we write into the BG Logic

IF ($CR_VAR[1].$STATE=X) THEN

DO[X]=ON/OFF

ENDIF

Hope this will help other people.

Hello, I don't really know to be honest since I never did it with an HMI connected to a PLC, but I'm pretty sure that it can be done.