SF_GetParam Function

Returns information on the safety function parameters.

Syntax
SF_GetParam (index)

Parameters

index
Specify the index of the information to be retrieved as an integer or constant. If the index “_EN” is specified at the end of the constant, 1 is returned if the parameter is enabled or 0 if it is disabled.

Return Values
An integer containing the specified information.

Description
Returns the specified safety function parameter values.

Index Constant Description
1 DRYRUNOFF Dry run is disabled
2 SLS_1_HAND_EN SLS_1 hand speed is monitored
3 SLS_1_SPEED Monitored speed setting value for SLS_1
4 SLS_1_ELBOW_EN

SLS_1 elbow (SCARA robots: J2, 6-axis robots: J3)

Speed monitoring status *1

5 SLS_1_JOINT_EN SLS_1 joint speed is monitored
6 SLS_1_JOINTSPEED Monitored joint speed setting value for SLS_1
7 SLS_1_WRIST_EN SLS_1 wrist (6-axis robots: J5) speed is monitored *1
8 SLS_1_SHOULDER_EN SLS_1 shoulder (6-axis robots: J2) speed is monitored *1
9 SLS_2_HAND_EN SLS_2 hand speed is monitored
10 SLS_2_SPEED Monitored speed setting value for SLS_2
11 SLS_2_ELBOW_EN

SLS_2 elbow (SCARA robots: J2, 6-axis robots: J3)

Speed monitoring status *1

12 SLS_2_JOINT_EN SLS_2 joint speed is monitored
13 SLS_2_JOINTSPEED Monitored joint speed setting value for SLS_2
14 SLS_2_WRIST_EN SLS_2 wrist (6-axis robots: J5) speed is monitored *1
15 SLS_2_SHOULDER_EN SLS_2 shoulder (6-axis robots: J2) speed is monitored *1
16 SLS_3_HAND_EN SLS_3 hand speed is monitored
17 SLS_3_SPEED Monitored speed setting value for SLS_3
18 SLS_3_ELBOW_EN

SLS_3 elbow (SCARA robots: J2, 6-axis robots: J3)

Speed monitoring status *1

19 SLS_3_JOINT_EN SLS_3 joint speed is monitored
20 SLS_3_JOINTSPEED Monitored joint speed setting value for SLS_3
21 SLS_3_WRIST_EN SLS_3 wrist (6-axis robots: J5) speed is monitored *1
22 SLS_3_SHOULDER_EN SLS_3 shoulder (6-axis robots: J2) speed is monitored *1
23 SLS_T2_HAND_EN SLS_T2 hand speed is monitored
24 SLS_T2_SPEED Monitored speed setting value for SLS_T2
25 SLS_T2_ELBOW_EN

SLS_T2 elbow (SCARA robots: J2, 6-axis robots: J3)

Speed monitoring status *1

26 SLS_T2_JOINT_EN SLS_T2 joint speed is monitored
27 SLS_T2_JOINTSPEED Monitored joint speed setting value for SLS_T2
28 SLS_T2_WRIST_EN SLS_T2 wrist (6-axis robots: J5) speed is monitored *1
29 SLS_T2_SHOULDER_EN SLS_T2 shoulder (6-axis robots: J2) speed is monitored *1
30 SLS_T_SPEED Monitored speed setting value for SLS_T
31 SLS_T_JOINT_EN SLS_T joint speed is monitored
32 SLS_T_JOINTSPEED Monitored joint speed setting value for SLS_T
33 SLS_HAND_OFS_X TCP offset position in X-axis direction of SLS
34 SLS_HAND_OFS_Y TCP offset position in Y-axis direction of SLS
35 SLS_HAND_OFS_Z TCP offset position in Z-axis direction of SLS
36 SLS_1_DELAY Delay time setting value for SLS_1
37 SLS_2_DELAY Delay time setting value for SLS_2
38 SLS_3_DELAY Delay time setting value for SLS_3
39 SLS_JOINT_POS_EN Joint angle is monitored
40 SLS_JOINT_POS_ANGLE Monitored joint angle setting value
41 SLP_A_XU_EN XU (wall: X2, restricted area: X1) position of SLP_A is monitored *2
42 SLP_A_XU_POS Setting value for XU (wall: X2, restricted area: X1) monitored position of SLP_A *2
43 SLP_A_XL_EN XL (wall: X1, restricted area: X2) position of SLP_A is monitored *2
44 SLP_A_XL_POS Setting value for XL (wall: X1, restricted area: X2) monitored position of SLP_A *2
45 SLP_A_YU_EN YU (wall: Y2, restricted area: Y1) position of SLP_A is monitored *2
46 SLP_A_YU_POS Setting value for YU (wall: Y2, restricted area: Y1) monitored position of SLP_A *2
47 SLP_A_YL_EN YL (wall: Y1, restricted area: Y2) position of SLP_A is monitored *2
48 SLP_A_YL_POS Setting value for YL (wall: Y1, restricted area: Y2) monitored position of SLP_A *2
49 SLP_A_ZU_EN Z2 position of SLP_A is monitored *2
50 SLP_A_ZU_POS Setting value for Z2 monitored position of SLP_A *2
51 SLP_A_ZL_EN Z1 position of SLP_A is monitored *2
52 SLP_A_ZL_POS Setting value for Z1 monitored position of SLP_A *2
53 SLP_B_XU_EN XU (wall: X2, restricted area: X1) position of SLP_B is monitored *2
54 SLP_B_XU_POS Setting value for XU (wall: X2, restricted area: X1) monitored position of SLP_B *2
55 SLP_B_XL_EN XL (wall: X1, restricted area: X2) position of SLP_B is monitored *2
56 SLP_B_XL_POS Setting value for XL (wall: X1, restricted area: X2) monitored position of SLP_B *2
57 SLP_B_YU_EN YU (wall: Y2, restricted area: Y1) position of SLP_B is monitored *2
58 SLP_B_YU_POS Setting value for YU (wall: Y2, restricted area: Y1) monitored position of SLP_B *2
59 SLP_B_YL_EN YL (wall: Y1, restricted area: Y2) position of SLP_B is monitored *2
60 SLP_B_YL_POS Setting value for YL (wall: Y1, restricted area: Y2) monitored position of SLP_B *2
61 SLP_B_ZU_EN Z2 position of SLP_B is monitored *2
62 SLP_B_ZU_POS Setting value for Z2 monitored position of SLP_B *2
63 SLP_B_ZL_EN Z1 position of SLP_B is monitored *2
64 SLP_B_ZL_POS Setting value for Z1 monitored position of SLP_B *2
65 SLP_C_XU_EN XU (wall: X2, restricted area: X1) position of SLP_C is monitored *2
66 SLP_C_XU_POS Setting value for XU (wall: X2, restricted area: X1) monitored position of SLP_C *2
67 SLP_C_XL_EN XL (wall: X1, restricted area: X2) position of SLP_C is monitored *2
68 SLP_C_XL_POS Setting value for XL (wall: X1, restricted area: X2) monitored position of SLP_C *2
69 SLP_C_YU_EN YU (wall: Y2, restricted area: Y1) position of SLP_C is monitored *2
70 SLP_C_YU_POS Setting value for YU (wall: Y2, restricted area: Y1) monitored position of SLP_C *2
71 SLP_C_YL_EN YL (wall: Y1, restricted area: Y2) position of SLP_C is monitored *2
72 SLP_C_YL_POS Setting value for YL (wall: Y1, restricted area: Y2) monitored position of SLP_C *2
73 SLP_C_ZU_EN Z2 position of SLP_C is monitored *2
74 SLP_C_ZU_POS Setting value for Z2 monitored position of SLP_C *2
75 SLP_C_ZL_EN Z1 position of SLP_C is monitored *2
76 SLP_C_ZL_POS Setting value for Z1 monitored position of SLP_C *2
77 SLP_J2_MON_RAD Setting value for J2 axis monitored range radius of SLP
78 SLP_J3_MON_RAD Setting value for J3 axis monitored range radius of SLP
79 SLP_J5_MON_RAD Setting value for J5 axis monitored range radius of SLP
80 SLP_J6_MON_RAD Setting value for J6 axis monitored range radius of SLP
81 SLP_J1_RANGE_MAX Maximum setting value for J1 axis limit range of soft axis limiting
82 SLP_J1_RANGE_MIN Minimum setting value for J1 axis limit range of soft axis limiting
83 SLP_J2_RANGE_MAX Maximum setting value for J2 axis limit range of soft axis limiting
84 SLP_J2_RANGE_MIN Minimum setting value for J2 axis limit range of soft axis limiting
85 SLP_J3_RANGE_MAX Maximum setting value for J3 axis limit range of soft axis limiting
86 SLP_J3_RANGE_MIN Minimum setting value for J3 axis limit range of soft axis limiting
87 SLP_J4_RANGE_MAX Maximum setting value for J4 axis limit range of soft axis limiting
88 SLP_J4_RANGE_MIN Minimum setting value for J4 axis limit range of soft axis limiting
89 SLP_J5_RANGE_MAX Maximum setting value for J5 axis limit range of soft axis limiting
90 SLP_J5_RANGE_MIN Minimum setting value for J5 axis limit range of soft axis limiting
91 SLP_J6_RANGE_MAX Maximum setting value for J6 axis limit range of soft axis limiting
92 SLP_J6_RANGE_MIN Minimum setting value for J6 axis limit range of soft axis limiting
93 SIN_1_SLS_1_EN SLS_1 function assignment state for SAFETY_IN1
94 SIN_1_SLS_2_EN SLS_2 function assignment state for SAFETY_IN1
95 SIN_1_SLS_3_EN SLS_3 function assignment state for SAFETY_IN1
96 SIN_1_SLP_A_EN SLP_A function assignment state for SAFETY_IN1
97 SIN_1_SLP_B_EN SLP_B function assignment state for SAFETY_IN1
98 SIN_1_SLP_C_EN SLP_C function assignment state for SAFETY_IN1
99 SIN_1_SG_EN Protective stop function assignment state for SAFETY_IN1
100 SIN_1_ESTOP_EN Emergency stop function assignment state for SAFETY_IN1
101 SIN_2_SLS_1_EN SLS_1 function assignment state for SAFETY_IN2
102 SIN_2_SLS_2_EN SLS_2 function assignment state for SAFETY_IN2
103 SIN_2_SLS_3_EN SLS_3 function assignment state for SAFETY_IN2
104 SIN_2_SLP_A_EN SLP_A function assignment state for SAFETY_IN2
105 SIN_2_SLP_B_EN SLP_B function assignment state for SAFETY_IN2
106 SIN_2_SLP_C_EN SLP_C function assignment state for SAFETY_IN2
107 SIN_2_SG_EN Protective stop function assignment state for SAFETY_IN2
108 SIN_2_ESTOP_EN Emergency stop function assignment state for SAFETY_IN2
109 SIN_3_SLS_1_EN SLS_1 function assignment state for SAFETY_IN3
110 SIN_3_SLS_2_EN SLS_2 function assignment state for SAFETY_IN3
111 SIN_3_SLS_3_EN SLS_3 function assignment state for SAFETY_IN3
112 SIN_3_SLP_A_EN SLP_A function assignment state for SAFETY_IN3
113 SIN_3_SLP_B_EN SLP_B function assignment state for SAFETY_IN3
114 SIN_3_SLP_C_EN SLP_C function assignment state for SAFETY_IN3
115 SIN_3_SG_EN Protective stop function assignment state for SAFETY_IN3
116 SIN_3_ESTOP_EN Emergency stop function assignment state for SAFETY_IN3
117 SIN_4_SLS_1_EN SLS_1 function assignment state for SAFETY_IN4
118 SIN_4_SLS_2_EN SLS_2 function assignment state for SAFETY_IN4
119 SIN_4_SLS_3_EN SLS_3 function assignment state for SAFETY_IN4
120 SIN_4_SLP_A_EN SLP_A function assignment state for SAFETY_IN4
121 SIN_4_SLP_B_EN SLP_B function assignment state for SAFETY_IN4
122 SIN_4_SLP_C_EN SLP_C function assignment state for SAFETY_IN4
123 SIN_4_SG_EN Protective stop function assignment state for SAFETY_IN4
124 SIN_4_ESTOP_EN Emergency stop function assignment state for SAFETY_IN4
125 SIN_5_SLS_1_EN SLS_1 function assignment state for SAFETY_IN5
126 SIN_5_SLS_2_EN SLS_2 function assignment state for SAFETY_IN5
127 SIN_5_SLS_3_EN SLS_3 function assignment state for SAFETY_IN5
128 SIN_5_SLP_A_EN SLP_A function assignment state for SAFETY_IN5
129 SIN_5_SLP_B_EN SLP_B function assignment state for SAFETY_IN5
130 SIN_5_SLP_C_EN SLP_C function assignment state for SAFETY_IN5
131 SIN_5_SG_EN Protective stop function assignment state for SAFETY_IN5
132 SIN_5_ESTOP_EN Emergency stop function assignment state for SAFETY_IN5
133 SOUT_1_STO STO function assignment state for SAFETY_OUT1
134 SOUT_1_SLS_1 SLS_1 function assignment state for SAFETY_OUT1
135 SOUT_1_SLS_2 SLS_2 function assignment state for SAFETY_OUT1
136 SOUT_1_SLS_3 SLS_3 function assignment state for SAFETY_OUT1
137 SOUT_1_SLS_T2 SLS_T2 function assignment state for SAFETY_OUT1
138 SOUT_1_SLS_T SLS_T function assignment state for SAFETY_OUT1
139 SOUT_1_SLP_A SLP_A function assignment state for SAFETY_OUT1
140 SOUT_1_SLP_B SLP_B function assignment state for SAFETY_OUT1
141 SOUT_1_SLP_C SLP_C function assignment state for SAFETY_OUT1
142 SOUT_1_EP_RC Emergency stop (Controller) function assignment state for SAFETY_OUT1
143 SOUT_1_EP_TP Emergency stop (Teach Pendant) function assignment state for SAFETY_OUT1
144 SOUT_1_EN_SW Enable switch function assignment state for SAFETY_OUT1
145 SOUT_2_STO STO function assignment state for SAFETY_OUT2
146 SOUT_2_SLS_1 SLS_1 function assignment state for SAFETY_OUT2
147 SOUT_2_SLS_2 SLS_2 function assignment state for SAFETY_OUT2
148 SOUT_2_SLS_3 SLS_3 function assignment state for SAFETY_OUT2
149 SOUT_2_SLS_T2 SLS_T2 function assignment state for SAFETY_OUT2
150 SOUT_2_SLS_T SLS_T function assignment state for SAFETY_OUT2
151 SOUT_2_SLP_A SLP_A function assignment state for SAFETY_OUT2
152 SOUT_2_SLP_B SLP_B function assignment state for SAFETY_OUT2
153 SOUT_2_SLP_C SLP_C function assignment state for SAFETY_OUT2
154 SOUT_2_EP_RC Emergency stop (Controller) function assignment state for SAFETY_OUT2
155 SOUT_2_EP_TP Emergency stop (Teach Pendant) function assignment state for SAFETY_OUT2
156 SOUT_2_EN_SW Enable switch function assignment state for SAFETY_OUT2
157 SOUT_3_STO STO function assignment state for SAFETY_OUT3
158 SOUT_3_SLS_1 SLS_1 function assignment state for SAFETY_OUT3
159 SOUT_3_SLS_2 SLS_2 function assignment state for SAFETY_OUT3
160 SOUT_3_SLS_3 SLS_3 function assignment state for SAFETY_OUT3
161 SOUT_3_SLS_T2 SLS_T2 function assignment state for SAFETY_OUT3
162 SOUT_3_SLS_T SLS_T function assignment state for SAFETY_OUT3
163 SOUT_3_SLP_A SLP_A function assignment state for SAFETY_OUT3
164 SOUT_3_SLP_B SLP_B function assignment state for SAFETY_OUT3
165 SOUT_3_SLP_C SLP_C function assignment state for SAFETY_OUT3
166 SOUT_3_EP_RC Emergency stop (Controller) function assignment state for SAFETY_OUT3
167 SOUT_3_EP_TP Emergency stop (Teach Pendant) function assignment state for SAFETY_OUT3
168 SOUT_3_EN_SW Enable switch function assignment state for SAFETY_OUT3
169 POS_ROT_U Setting value for installation plane rotation U_ROT
170 POS_ROT_V Setting value for installation plane rotation V_ROT
171 POS_ROT_W Setting value for installation plane rotation W_ROT
172 POS_OFS_X Setting value for installation position X_OFS
173 POS_OFS_Y Setting value for installation position Y_OFS
174 POS_OFS_Z Setting value for installation position Z_OFS

*1 The correspondence between the monitored parts J2, J3, J5 for Safety Limited Speed in Safety Function Manager and the speed exceeded parts hand, wrist, elbow, and shoulder referred in this manual is as follows:

  • SCARA robots
    • J2: Elbow
    • J3: Not applicable
  • 6-axis robots
    • J2: Shoulder
    • J3: Elbow
    • J5: Wrist
    • Hand: Hand

*2 The correspondence between the monitored position X1, X2, Y1, Y2, Z1, Z2 for Safety Limited Position in Safety Function Manager and the monitored position XL, XU, YL, YU, ZL, ZU referred in this manual is as follows:

  • When "Wall" is selected for the monitored position
    • X1 = XL, X2 = XU
    • Y1 = YL, Y2 = YU
    • Z1 = ZL, Z2 = ZU (6-axis robots only)
  • When "Restricted Area" is selected for the monitored position
    • X1 = XU, X2 = XL
    • Y1 = YU, Y2 = YL
    • Z1 = ZL, Z2 = ZU (6-axis robots only)

This command can be used with the Controllers with Safety Board.

SF_GetParam Function Example

If SF_GetParam (SLS_1_HAND_EN) = 1 Then
Print "SLS_1 hand speed monitoring is enabled."
EndIf

← SF_GetParam$ Function →

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