Robotics - Vertical Integration - 7.7.3.4 Object ParameterSet

Table 35 – ParameterSet of SafetyStateType

Attribute	Value
BrowseName	ParameterSet
References	Node Class	BrowseName	DataType	TypeDefinition	Modelling Rule
HasComponent	Variable	OperationalMode	OperationalModeEnumeration	BaseDataVariableType	Mandatory
HasComponent	Variable	EmergencyStop	Boolean	BaseDataVariableType	Mandatory
HasComponent	Variable	ProtectiveStop	Boolean	BaseDataVariableType	Mandatory

Variable OperationalMode: The OperationalMode variable provides information about the current operational mode. Allowed values are described in OperationalModeEnumeration, see ISO 10218-1:2011 Ch.5.7 Operational Modes.
Variable EmergencyStop: The EmergencyStop variable is TRUE if one or more of the emergency stop functions in the robot system are active, FALSE otherwise. If the EmergencyStopFunctions object is provided, then the value of this variable is TRUE if one or more of the listed emergency stop functions are active.
Variable ProtectiveStop: The ProtectiveStop variable is TRUE if one or more of the enabled protective stop functions in the system are active, FALSE otherwise. If the ProtectiveStopFunctions object is provided, then the value of this variable is TRUE if one or more of the listed protective stop functions are enabled and active.

Table 36 – OperationalModeEnumeration

OperationalModeEnumeration
EnumString	Value	Description
OTHER	0	This value is used when there is no valid operational mode. Examples are: - During system-boot - The system is not calibrated (and hence can not verify cartesian position values) - There is a failure in the safety system itself
MANUAL_REDUCED_SPEED	1	"Manual reduced speed" - name according to ISO 10218-1:2011
MANUAL_HIGH_SPEED	2	"Manual high speed" - name according to ISO 10218-1:2011
AUTOMATIC	3	"Automatic" - name according to ISO 10218-1:2011
AUTOMATIC_EXTERNAL	4	"Automatic external" - Same as "Automatic" but with external control, e.g. by a PLC