Send safety feedback signal to PLC when safety zones inactive

    My customer wants an option to deactivate Safety Zones via key switch so an operator can manually jog the robot out of a TPO violation. When the PLC deactivates them, I want the robot to output a feedback signal.

    As shown in the attached screenshot, I tried mapping feedback signals to the "Function active status" in each zone, believing they would set to 0 when the safety zone is deactivated. According to the manual for Functional Safety and SafeMove 2, it seems this is not the case:

    Function active status is a status signal telling if all configured violation actions (for example, stop and output signal) will be activated at violation.

    Signal definitions:

    0 = at least one violation action is disabled

    1 = all violation actions are enabled

    I then tried using the Cross Connection function to map a PLC input to a safety output:

    But then I received the error, "Event Message 71164: Internal I/O signal in cross connection." Apparently I can't cross-connect a user-defined I/O signal to a safety signal.

    How can I send a safety feedback signal to my PLC when the zones are deactivated?

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