T_CS9SftyCmd
TYPE T_CS9SftyCmd : STRUCT
Structure defining information related to CS9 safety featuresApplicable for CS9 controller only.For futher details about CS9 safety features, please consult 'CS9 Safety Manual'Restart control is the safety function to maintain the robot in safe state after a safety stop, or after machine start-up, until an explicit restart acknowledge (manual reset) signal is received.
Syntax
Definition:
TYPE T_CS9SftyCmd :
STRUCT
RestartSafety : BOOL := FALSE;
ResetReferencing : BOOL := FALSE;
ForceReferencingCheck : BOOL := FALSE;
SafeRefSensor : BOOL := FALSE;
END_STRUCT
END_TYPE
Parameters
|
Name |
Type |
Initial |
Description |
|---|---|---|---|
|
RestartSafety |
BOOL |
FALSE |
Command a safety restart/acknowledgment of the CS9 internal safety PLC program. Safety acknowledge can be disabled on the robot side, when restart control is fully implemented within an external PLC program |
|
ResetReferencing |
BOOL |
FALSE |
Effective when robot power is OFF. Reset the safe referencing procedure. It shall be completely performed again. |
|
ForceReferencingCheck |
BOOL |
FALSE |
When set, robot moves at slow speed only. A movement to second referencing position is required. |
|
SafeRefSensor |
BOOL |
FALSE |
State of the safe referencing sensor |