ID : 2610

SafetyInfo

Function

Return the system information of the Safety motion specification controller.

Syntax

SafetyInfo(Index number)

Guaranteed Entry

Index number: Specify an index number in Integer type data.

Return Value

System information specified by the index number is stored in the variable that is specified by

Variant Type as a return value. Data Types of return value differs depending on the specified index number.

Description

The following table shows available system information.

Index number	System information	Data type
0	State of the Safety motion function -2 : Undefine -1 : Initialization error 0 : Stanby 1 : Seeking 2 : Error 3 : Recieving data	Integer type
1	Tool number where the Safety motion function recognizes. (0 to 15)	Integer type
2	Tool definition of the tool number where the Safety motion function recognizes.	Array of Single precision real number type
3	Speed limit where the Safety motion function recognizes. 0 : None 1 : 500 mm/sec 2 : 250 mm/sec 3 : 125 mm/sec 4 : SS2	Integer type
4	Set the input state of each Motion I/O to every bit and then return them. * The state of I/O5 is entered in "bit 1". For each bit, enter "1" if the corresponding I/O's state is ON, and enter "0" if the state is OFF.	Integer type
5	Set the output state of each Motion I/O to every bit and then return them. * The state of I/O4 is entered in "bit 1". For each bit, enter "1" if the corresponding I/O's state is ON, and enter "0" if the state is OFF.	Integer type
6	Angle of each axis (8 axes) where the Safety motion function recognizes. (J type)	Array of Single precision real number type
7	Angle of each axis at the Safe reference position. [deg/mm] * Position where the Safety motion recognizes.	Array of Single precision real number 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 : 2610

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