SF_GetStatus Function
Returns the status bit of the safety function.
Syntax
SF_GetStatus (index)
Parameters
- index
- Specify the index of the information to be retrieved as an integer value.
Return Values
An integer containing the specified information of index.
Description
The return values bit information is shown in the following table.
| Index | Bit | Value | Description |
|---|---|---|---|
| 0 | 0-6 | - | Reserved |
| 7 | &H80 | Failure detection of safety board | |
| 1 | 0 | &H1 | SLS_1 is enabled |
| 1 | &H2 | SLS_2 is enabled | |
| 2 | &H4 | SLS_3 is enabled | |
| 3-7 | - | Reserved | |
| 2 | 0 | &H1 | SLP_A is enabled |
| 1 | &H2 | SLP_B is enabled | |
| 2 | &H4 | SLP_C is enabled | |
| 3-6 | - | Reserved | |
| 7 | &H80 | Soft Axis Limiting is enabled (always on) | |
| 3 | 0 | &H1 | SAFETY_IN1 signal is High (the function is off) *1 |
| 1 | &H2 | SAFETY_IN2 signal is High (the function is off) *1 | |
| 2 | &H4 | SAFETY_IN3 signal is High (the function is off) *1 | |
| 3 | &H8 | SAFETY_IN4 signal is High (the function is off) *1 | |
| 4 | &H10 | SAFETY_IN5 signal is High (the function is off) *1 | |
| 5 | &H20 | Emergency stop switch (Teach Pendant) High (function off) *1 | |
| 6 | &H40 | Emergency stop switch (Controller connection) High (function off) *1 | |
| 7 | &H80 | Enable signal High (function off) *1 | |
| 4 | 0 | &H1 | SAFETY_OUT1 signal is High (the function is off) *2 |
| 1 | &H2 | SAFETY_OUT2 signal is High (the function is off) *2 | |
| 2 | &H4 | SAFETY_OUT3 signal is High (the function is off) *2 | |
| 3-7 | - | Reserved | |
| 5 | 0 | &H1 | SLP_A *3 |
| 1 | &H2 | SLP_B *3 | |
| 2 | &H4 | SLP_C *3 | |
| 3-6 | - | Reserved | |
| 7 | &H80 | SLP_J *3 | |
| 6 to 11 | 0-7 | - | Reserved |
| 12 | 0-7 | - | STF_ID |
| 13 | 0-7 | - | STF_DET_L |
| 14 | 0-7 | - | STF_DET_U |
| 15 | 0-7 | - | Reserved |
- *1. The safety input signal is negative logic (Active Low).
- If a signal level High is input to the safety input, this function will return 1 and the function assigned to the safety input will not operate.
If a signal level Low is input to the safety input, this function will return 0 and the function assigned to the safety input will operate. This occurs if a device is not connected to the safety input. - *2 The safety output signal is negative logic (Active Low).
- If one of the functions assigned to the safety output is operating, the safety output will be enabled, the signal level at the safety output will be Low, and this function will return 0.
If none of the functions assigned to the safety output are operating, the safety output will be disabled, the signal level at the safety output will be High, and this function will return 1.
If no function is assigned to the safety output, the signal level at the safety output will be Low and this function will return 0. - *3 If the target enters the monitored position, this function will return 1 regardless of whether or not the SLP function is assigned to the safety input as well as the input signal is enabled.
The cause of an error can be checked using STF_ID, STF_DET_L, or STF_DET_H. How to check using SPEL+ will be described later. The STF_IDs and the STF_DET_L and STF_DET_H information are shown below.
| STF_ID | Error | STF_DET_L | STF_DET_U |
|---|---|---|---|
| 100 | Stop notification Safety input | Safety input port SAFETY_IN1 &H01 SAFETY_IN2 &H02 SAFETY_IN3 &H04 SAFETY_IN4 &H08 SAFETY_IN5 &H10 | Not used |
| 101 | Stop notification SLS_1 speed exceeded Joint | Joint number J1 &H01 / J2 &H02 J3 &H04 / J4 &H08 J5 &H10 / J6 &H20 | Not used |
| 102 | Stop notification SLS_1 speed exceeded Part | Part Hand &H01 / Elbow &H02*1 Wrist &H04 / Shoulder &H08 *1 | Not used |
| 103 | Stop notification SLS_2 speed exceeded Joint | Joint number J1 &H01 / J2 &H02 J3 &H04 / J4 &H08 J5 &H10 / J6 &H20 | Not used |
| 104 | Stop notification SLS_2 speed exceeded Part | Part Hand &H01 / Elbow &H02*1 Wrist &H04 / Shoulder &H08 *1 | Not used |
| 105 | Stop notification SLS_3 speed exceeded Joint | Joint number J1 &H01 / J2 &H02 J3 &H04/ J4 &H08 J5 &H10 / J6 &H20 | Not used |
| 106 | Stop notification SLS_3 speed exceeded Part | Part Hand &H01 / Elbow &H02*1 Wrist &H04 / Shoulder &H08 *1 | Not used |
| 107 | Stop notification SLS_T speed exceeded Joint | Joint number J1 &H01 / J2 &H02 J3 &H04 / J4 &H08 J5 &H10 / J6 &H20 | Not used |
| 108 | Stop notification SLS_T speed exceeded Part | Part Hand &H01 / Elbow &H02*1 Wrist &H04 / Shoulder &H08 *1 | Not used |
| 109 | Stop notification SLS_T2 speed exceeded Joint | Joint number J1 &H01 / J2 &H02 J3 &H04 / J4 &H08 J5 &H10 / J6 &H20 | Not used |
| 110 | Stop notification SLS_T2 speed exceeded Part | Part Hand &H01 / Elbow &H02*1 Wrist &H04 / Shoulder &H08 *1 | Not used |
| 115 | Stop notification SLP_A position exceedance Monitored position | Monitored position YL &H01 / YU &H02 XL &H04 / XU &H08 ZL &H10 / ZU &H20 *2 | Joint number J6 &H08 J5 &H04 J3 &H02 J2 &H01 |
| 116 | Stop notification SLP_B position exceedance Monitored position | Monitored position YL &H01 / YU &H02 XL &H04/ XU &H08 ZL &H10 / ZU &H20 *2 | Joint number J6 &H08 J5 &H04 J3 &H02 J2 &H01 |
| 117 | Stop notification SLP_C position exceedance Monitored position | Monitored position YL &H01 / YU &H02 XL &H04 / XU &H08 ZL &H10 / ZU &H20 *2 | Joint number J6 &H08 J5 &H04 J3 &H02 J2 &H01 |
| 118 | Stop notification Soft Axis Limiting | Joint number J1 &H01 / J2 &H02 J3 &H04 / J4 &H08 J5 &H10 / J6 &H20 | Not used |
| 121 | Stop notification Switch input | Switch number Enable switch &H01 Emergency stop switch (Teach Pendant) &H02 Emergency stop switch (Controller connection) &H04 | Not used |
| 122 | Stop notification Mode control | Mode Parameter communication permission &H08 Disable Safety Function (Safety Board) &H04 Switch Operation mode &H02 Parameter setting verified &H01 | Not used |
| 123 | Stop notification Deceleration monitoring | Detection error Deceleration error &H08, &H04 Deceleration completed &H02 After the monitoring time &H01 | Not used |
| 124 | Stop notification Joint angle monitoring | Joint number J1 &H01 / J2 &H02 J3 &H04 / J4 &H08 J5 &H10 / J6 &H20 | Not used |
| 131 | Failure and stop notification Encoder communication failure | Joint number J1 &H01 / J2 &H02 J3 &H04 / J4 &H08 J5 &H10 / J6 &H20 | Not used |
| 132 | Failure and stop notification Position error | Joint number J1 &H01 / J2 &H02 J3 &H04 / J4 &H08 J5 &H10 / J6 &H20 | Not used |
| 133 | Failure and stop notification Double input error | Error detected part Safety input port SAFETY_IN 1 &H01 SAFETY_IN 2 &H02 SAFETY_IN 3 &H04 SAFETY_IN 4 &H08 SAFETY_IN 5 &H10 Enable switch &H20 Emergency stop switch (Teach Pendant) &H40 Emergency stop switch (Controller connection) &H80 | Not used |
| 134 | Failure and stop notification Double output error | Error detected part Safety output port SAFETY_OUT 1 &H01 SAFETY_OUT 2 &H02 SAFETY_OUT 3 &H04 STO &H80 | Not used |
| 135 | Failure and stop notification Safety Board error | Error detected part Communication bus &H20 Power (3.3V) &H08 Power (5V) &H04 Watchdog timer detection &H02 Relay welding &H01 | Not used |
| 136 | Failure and stop notification Safety Board MCU error | Error detected part Sequence monitor &H10 CPU &H08 RAM &H04 Program ROM &H02 Data ROM &H01 | When DET_L = &H01 (Date ROM) &H00 - &HFE Data failure part &HFF Parameter failure |
| 137 | Failure and stop notification Safety Board Duplication internal abnormality | Error detected part TCP position not matched &H02 Status not matched &H01 | Not used |
| 138 | Failure and stop notification Encoder Internal abnormality | Joint number J1 &H01 / J2 &H02 J3 &H04 / J4 &H08 J5 &H10 / J6 &H20 | Not used |
| 139 | Failure and stop notification Controller Internal abnormality | Error detected part Operation mode receive error &H01 | Not used |
*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
- J5: Not applicable
- Hand: Hand
- 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)
The cause of an error can be checked using STF_ID, STF_DET_L, or STF_DET_H.
Enter and confirm the commands in the following order in the command window and so on.
> SF_GetStatus (12)
115 'Indicates the error of "Stop notification SLP_A position exceedance".
> SF_GetStatus (13)
1 'Indicates that "YL" direction monitored position has been exceeded. (Check for STF_ID: 115.)
> SF_GetStatus (14)
1 'Indicates the "J2Flag" exceeded. (Check for STF_ID: 115.)
To summarize the above, we can see that the error occurred because "the J2Flag cross the monitored position in the YL of SLP_A."
Error information is also recorded in the Epson RC+ system history. The cause of the error is recorded in "Additional information". See SPEL+ error messages in the SPEL+ Language Reference manual.
This command can be used with the Controllers with Safety Board.
SF_GetStatus Function Example
If (SF_GetStatus(3) And &H1) = &H1 Then
Print "SAFETY_IN1 is High"
Else
Print "SAFETY_IN1 is Low"
EndIf