ID : 9260

SafetyInfo

Function

Returns the system information of the Safety Motion–equipped controller.

Syntax

SafetyInfo(index number )

Guaranteed Entry

Index number: Specify an index number with integer type data.

Return Value

Returns a Data Types corresponding to the specified index number to a variable specified with Variant Type data.

Description

The following system information can be acquired.

Index number	System information	Data type
0	Status of the Safety Motion function -1: Undefined 0: Safe state 1: Normal 2: Recovery	Integer type
1	Tool number (0 to 15) recognized by the Safety Motion function	Integer type
2	Tool definition of a tool number (0 to 15) recognized by the Safety Motion function	Array of single-precision real number type data
3	Speed limit recognized by the Safety Motion function 0: None 1: Speed limit in RLS 2: Speed limit in SS2-t	Integer type
4	Input state of each Motion I/O, assigned to each bit When an I/O is ON, “1” is assigned to the corresponding bit. When an I/O is “OFF”, “0” is assigned to the bit. Bit 1: SS2-t Bit 2: RLS Bit 5: Tool0 Bit 6: Tool1 Bit 7: Tool2 Bit 8: Tool3	Integer type
5	Output state of each Motion I/O, assigned to each bit With the I/O 4 corresponding to the Bit 1, when an I/O is ON, “1” is assigned to the corresponding bit. When an I/O is “OFF”, “0” is assigned to the bit. Bit 1: STO Bit 2: SOS Bit 9: SLP Bit 10: RLS Bit 13: RLP	Integer type
6	Angle (J-type) of each of eight axes recognized by the Safety Motion function	Array of single-precision real number type data
7	Safety parameter ID	Integer type

Related Terms

Attention

Example

'!TITLE "Pro2"

Sub Main 
    TakeArm Keep = 0
    
    Dim aaa As Variant
    
    aaa = SafetyInfo( 0 ) 'State of Safety motion function
    PrintDbg aaa
    
    aaa = SafetyInfo( 3 ) 'Speed limit being set
    PrintDbg aaa
    
End Sub

ID : 9260

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