get_safety_function()

Features

Returns the Safe Stop Mode value of the current Safety Settings parameter.

Parameters

None

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

Class

None

Example

PY

#  0. Emergency Stop
#  1. Proctective Stop
#  2. StadnStill Monitoring
#  3. Joint Angle Monitoring
#  4. Joint Speed Monitoring
#  5. Joint Torque Monitoring
#  6. Collisoin Detection - Standalone Workspace
#  7. Collisoin 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()

Related commands

None