Features
Returns the Safe Stop Mode value of the current Safety Settings parameter.
Return
|
Value |
Data Types |
Description |
|---|---|---|
|
ret |
int[15] |
Returns the stop mode for each index (see example for status per index) 0 : STO 2 : SS1 3 : SS2 4 : RS1 |
Example
Python
# 0. Emergency Stop
# 1. Protective Stop
# 2. StandStill Monitoring
# 3. Joint Angle Monitoring
# 4. Joint Speed Monitoring
# 5. Joint Torque Monitoring
# 6. Collision Detection - Standalone Workspace
# 7. Collision Detection - Collaborative Workspace
# 8. TCP Position Monitoring
# 9. TCP Orientation Monitoring
# 10. TCP Speed Monitoring
# 11. TCP Force Monitoring - Standalone Workspace
# 12. TCP Force Monitoring - Collaborative Workspace
# 13. Momentum Monitoring
# 14. Power Mon.
ret = get_safety_function()