GetSafetyStopStatus

This command returns the status of specific safety stop signals.

Syntax

GetSafetyStopStatus(n)

Arguments

• n: any of the following four-digit codes:

  • 3032, for the state of the P-Stop 2 safety stop signal;

  • 3069, for the state of the P-Stop 1 safety stop signal;

  • 3070, for the state of the E-Stop safety stop signal;

  • 3080, for the state of the operation mode safety stop signal;

  • 3081, for the state of the enabling device released safety stop signal;

  • 3082, for the state of the voltage fluctuation safety stop signal;

  • 3083, for the state of the safety stop signal associated with robot reboot or reset signal;

  • 3084, for the state of the safety stop signal associated with a safety signal mismatch;

  • 3085, for the state of the safety stop signal associated with a standstill fault;

  • 3086, for the state of the safety stop signal associated with a connection drop;

  • 3087, for the state of the safety stop signal associated with a minor error.

Responses

• [3032][n], etc.

  • n: 0, 1 or 2, as described in Section 3.3.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, a broad spectrum of safety-related information is reported in the SafetyStatus section (see Section 4.5.9).