T_CS9SftyFbk
TYPE T_CS9SftyFbk : 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_CS9SftyFbk :
STRUCT
WaitForRestart : BOOL := FALSE;
BrakeTestWarning : BOOL := FALSE;
BrakeTestTimeout : BOOL := FALSE;
SafeReferencingStatus : UINT := 7;
END_STRUCT
END_TYPE
Parameters
|
Name |
Type |
Initial |
Description |
|---|---|---|---|
|
WaitForRestart |
BOOL |
FALSE |
The CS9 internal safety PLC program is waiting for a safety restart/acknowledgment. This feature can be disabled |
|
BrakeTestWarning |
BOOL |
FALSE |
TRUE= Time interval for performing brake test is about to elapse. Robot brakes shall be tested as soon as possible |
|
BrakeTestTimeout |
BOOL |
FALSE |
TRUE= Time interval for performing brake test is up. Robot will move wil low speed until Brake test procedure is successfully executed. |
|
SafeReferencingStatus |
UINT |
7 |
Self explaining... |