Reading the safety controller signals
Description
The function block KRC_ReadSafeOPStatus reads signals of the safety controller. (Only relevant if KUKA.SafeOperation is installed.)
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
|
MASTERINGTEST_REQ_EXT |
BOOL |
TRUE = mastering test requested by the PLC |
|
BRAKETEST_REQ_EXT |
BOOL |
TRUE = brake test requested by the PLC. |
Outputs
|
Parameter |
Type |
Description |
|---|---|---|
|
Valid |
BOOL |
TRUE = data are valid |
|
BRAKETEST_REQ_INT |
BOOL |
TRUE = brake test requested by the safety controller. |
|
MASTERINGTEST_REQ_INT |
BOOL |
TRUE = mastering test requested by the safety controller. |
|
BRAKETEST_MONTIME |
BOOL |
TRUE = robot was stopped due to elapsed brake test monitoring time. |
|
BRAKETEST_WORK |
BOOL |
TRUE = brake test is currently being performed |
|
BRAKES_OK |
BOOL |
Edge TRUE --> FALSE: A brake has been identified as defective. |
|
BRAKETEST_WARN |
BOOL |
Edge FALSE --> TRUE: At least 1 brake has been detected as having reached the wear limit. |
|
MASTERINGTESTSWITCH_OK |
BOOL |
TRUE = reference switch is OK. |
|
Error |
BOOL |
TRUE = error in function block |
|
ErrorID |
DINT |
Error number |