Data type for robot controller status signals.
Data structure used in MLxData structure.
Contains signals on system state.
Version history
1.0.0
Changes
RemoteModesignal
show full history
0.1.0
Changes
- source code ported
- version number reset
- now using semantic versioning
Overview
| name | type | default | comment |
|---|---|---|---|
| MLXGatewayConnected | BOOL | MotoLogix communication ok | |
| InitializationComplete | BOOL | For future use | |
| ManualMode | BOOL | Pendant keyswitch in Teach Mode | |
| RemoteMode | BOOL | Pendant keyswitch in Remote Mode | |
| RestartRuntime | BOOL | For future use | |
| DisableLimits | BOOL | For future use | |
| AcceptHardwarePosition | BOOL | For future use | |
| EStop1Pressed | BOOL | EStop1 is pressed | |
| EStop2Pressed | BOOL | EStop2 is pressed | |
| EStop3Pressed | BOOL | EStop3 is pressed | |
| DeadmanDisengaged | BOOL | Deadman Switch is disengaged | |
| GuardCircuitOpen | BOOL | Guard Circuit (SAFF) is open | |
| AllDrivesEnabled | BOOL | all servo drives of all robots are enabled | |
| AllDrivesDisabled | BOOL | all servo drives of all robots are disabled | |
| SafetyCircuitOK | BOOL | the safety circuit in the drive panel is in the reset state that allows the drives to be operational. | |
| PendantConnected | BOOL | a pendant is connected to the drive panel | |
| ServoOnReady | BOOL | Pendant ServoOnReady status (relevant for TEACH operation) |
Details
MLXGatewayConnected
BOOLTrue when MotoLogix communication is OK.
Useful to check if MotoLogix setup is correct.
InitializationComplete
BOOLFor future use
ManualMode
BOOLTrue when Pendant keyswitch is in Teach mode, False otherwise.
RemoteMode
BOOLTrue when Pendant keyswitch is in Remote mode, False otherwise.
RestartRuntime
BOOLFor future use
DisableLimits
BOOLFor future use
AcceptHardwarePosition
BOOLFor future use
EStop1Pressed
BOOLTrue when Emergency Stop is pressed on the Teach Pendant (PPESP).
EStop2Pressed
BOOLEmergency Stop on the controller door is pressed. This Emergency Stop button does not exist on european controller.
EStop3Pressed
BOOLTrue when an External Emergency Stop signal is pressed.
It corresponds to terminals 5,6,7 and 8 on the X18 terminal block EXESP.
If ProfiSafe or Ethernet/IP Safe communication is used, signal may correspond to the External Emergency Stop signal in the safety logic circuit S-EXESP.
DeadmanDisengaged
BOOLFalse while the Teach Pendant Deadman Switch is pressed.
GuardCircuitOpen
BOOLTrue when Safety Fence (SAFF) is opened.
Only Jog motion using the Teach Pendant can be performed.
Correspond to terminals 1,2,3 and 4 on the X18 terminal block.
AllDrivesEnabled
BOOLAll servo drives of all robots are enabled.
AllDrivesDisabled
BOOLAll servo drives of all robots are disabled.
SafetyCircuitOK
BOOLThe safety circuit in the drive panel is in the reset state. It allows the drives to be operational.
PendantConnected
BOOLTrue when a Teach Pendant is connected to the controller.
ServoOnReady
BOOLTeach Pendant ServoOnReady status. True if SERVO ON light is ON or blinking.
Relevant for teaching operation using the Teach Pendant.