get_safety_io()

ret

class.config_safety_io

safety IO 설정 정보

class.config_safety_io

obj

list

해당 클래스의 object 정보

input

int[16]

safety input 정보(0~16)

0: Not Used

1: Protective Stop (STO) (L)

2: Emergency Stop (L)

3: Protective Stop (L)

4: Reduced Speed (L)

5: 3-pos Enable Switch (L to H & H)

6: Hand-guiding Enable Switch (L to H & H)

7: HGC End & Task Resume (L to H)

8: Protective Stop (Auto Reset & Resume) (L)

9: Safe Zone Dynamic Enable (H)

10: Remote Control Mode (H)

11: Emergency Stop (No Loopback) (L)

12: Error Reset & Resume (L to H)

13: Interlock Reset (L to H)

14: Protective Stop (SS1) (L)

15: Protective Stop (SS2) (L)

16: Safe Zone Dynamic Enable (L)

output

int[16]

safety output 정보(0~19)

0: Not Used

1: Safe Torque Off (STO) (L)

2: Safe Operating Stop (SOS) (L)

4: Normal Speed Status (L)

5: Reduced Speed Status (L)

6: Auto Mode (L)

7: Manual Mode (L)

8: Standalone Zone (L)

9: Collaborative Zone (L)

10: High Priority Zone(L)

11: Tool Orientation Limited Zone (L)

12: Emergency Stop (L)

13: Emergency Stop (excl. No Loopback Input) (L)

15: Designated Zone (L)

17: Remote Mode (L)

18: Interlock Reset Needed(L)

19: Handguiding Status (L)