read value of AS1, GS1, ES1 - read external safety status

guigui72

Hello,

I would like to read the value of AS1 and GS1 but I don't know how to do that. I want to do this for the HMI.

I tried to use cross connection or direct rapid read but it's not work. Also, I can't see theses signals inSystem Output... I only see : EmergencyStop : it's work only for internal emergency stop...

I use Auto Stop for fence open and General Stop for external emergency stop. I want to see on my HMI if the robot is stopped for fence open or emergency stop...

Thanks you

DenisFR

Hello,

Which version of RobotWare do you have?

DenisFR

Did you try something like this:

EIO_CROSS:

      -Name "C_SYSTEM_AS" -Res "SYSTEM_AS" -Act1 "AS1" -Oper1 "OR" -Act2 "AS2"
      -Name "C_SYSTEM_AUTO" -Res "SYSTEM_AUTO" -Act1 "AUTO1" -Oper1 "OR" -Act2 "AUTO2"
      -Name "C_SYSTEM_DRV1" -Res "SYSTEM_DRV1" -Act1 "DRV1LIM1" -Oper1 "AND" -Act2 "DRV1LIM2"

lemster68

I have to recommend that external e-stop be wired to robot e-stop, not general stop.  They are not the same except that both have effect in auto and teach.  General stop is by default soft, e-stop is not.  Also, e-stop requires a reset either local with motor on button or system input specific to reset e-stop.

guigui72

@DenisFR : I use robotware 6.11.1005. yes my last test with cross connection was not ok (not exacly the same but something like you write)
@Lemster : OK

My solution : I have solved my problem : AS1 and GS1 is readable by ABB OPC server : I can use it on my HMI.
Thank's you for your answers