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SafeMove access to "safety" category signals

jboti
jboti ✭
in Robot Controller
Hello Everyone,

We're building a robotic cell and we want to use the Flexpendant for controlling other equipment in manual mode. We're using a robot with SafeMove Basic option and Profisafe through Profinet network. I'm making a custom ScreenMaker application, and in my safety PLC I would like to have access to the TeachPendant's enabling device. I've found the EN1 and EN2 signals in the robot controller, but I can't figure out how to send them through ProfiSafe - they don't seem to be accessible in the safety controller of the IRC5.
Any ideas?

Thanks,
Boti

Comments

  • jboti
    jboti ✭
    Seems to me that the safety controller doesn't have access to the enabling device's state, this only being hard-wired in the run-chain. Still, I couldn't figure out how/where it's wired in the controller, how come the EN1 and EN2 signals are available in RobotStudio/FlexPendant...
  • ceprazov
    ceprazov ✭
    Sorry You must use DriveEnableFeedback

  • jboti
    jboti ✭
    What about using the enabling device without actually enabling the robot? For example keeping the robot in general stop state while being able to move other mechanisms.

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