Changes to PROFIsafe 5.25

• 0: Robot is performing, or it has completed, a safety stop of category 0; A hard stop by immediate removal of power to the arm and the motors.

• 1: Robot is not doing a category 0 stop.

• 0: Robot is performing, or it has completed, a safety stop of category 1; A controlled stop after which the motors are left in a power off state with brakes engaged.

• 1: Robot is not doing a category 1 stop.

• 0: Robot is performing, or it has completed, a safety stop of category 2; A controlled stop after which the motors are left in a power on state.

• 1: Robot is not doing a category 2 stop.

• 0: Robot is stopped, because the safety system failed to comply with the active safety limits defined.

• 1: Robot is complying with the active safety limits defined.

• 0: Robot is stopped, because of an unexpected exceptional error in the safety system.

• 1: Robot is not experiencing an unexpected exceptional error in the safety system.

• 0: The robot is stopped due to one of the following conditions:

  • A safety PLC connected via PROFIsafe has asserted the safeguard stop.

  • A unit connected to the safeguard stop nonconfigurable input of the control box has asserted the safeguard stop.

  • A unit connected to the safeguard stop configurable safety input of the control box has asserted the safeguard stop.

• 1: The robot is not stopped due to Safeguard.

Note: This signal follows the safeguard reset semantics. A configured safeguard stop reset functionality must be used to reset this signal. PROFIsafe enforces use of the safeguard reset functionality.

The robot is stopped because it is operating in Automatic mode and because of one of the following conditions:

• A safety PLC connected via PROFIsafe has asserted safeguard stop auto.
• A unit connected to a safeguard stop auto configurable safety input of the control box has asserted safeguard stop auto.

The signal follows the safeguard reset semantics. A configured safeguard stop reset functionality shall be used to reset this signal

PROFIsafe implies use of the safeguard reset functionality.

• 0: Robot is stopped because it is operating in Manual mode and because of one of the following conditions:

  • Any 3PE is pressed to the middle position, and Freedrive input is active.

  • Not all 3PE are pressed to the middle position.

• 1: Robot is not stopped because of a 3-position enabling device.

• 0: Reduced safety limits are active.

• 1: Normal safety limits are active.

• 0: The robot is stopped because of one of the following conditions:

  • The e-stop button of the teach pendant is pressed.

  • An e-stop button connected to the robot e-stop non-configurable safety input of the control box is pressed.

• 1: Robot is not in e-stop by robot.

The active set of safety limits.

• 0: Normal

• 1: Reduced

• 2: Recovery

• 0: Robot is moving. If any joint moves at a velocity of 0.02 rad/s or higher the robot is considered in motion.

• 1: Robot is at standstill.