SafetyStateType describes the safety states of the motion devices and controllers. One motion device system is associated with one or more instances of the SafetyStateType.

The SafetyStateType was modelled directly in the MotionDeviceSystemType for the following reasons:

• The manufacturers of systems have different concepts where safety is functional located, e.g. the hardware and software implementation.
• The safety state typically applies to the entire robotic system. If multiple safety state instances are implemented in robotic systems, these can be represented by individual instances of the SafetyStateType and associated with the controller by reference.

The safety state is for informational purpose only and not intended for use with functional safety applications as defined in IEC 61508.

The SafetyStateType is formally defined in Table 21.

Figure 18 – Overview SafetyStateType

Table 21 – SafetyStateType Definition

Attribute	Value
BrowseName	SafetyStateType
IsAbstract	False
References	Node Class	BrowseName	DataType	TypeDefinition	Other
Subtype of the ComponentType defined in OPC Unified Architecture for Devices (DI), inheriting the InstanceDeclarations of that Node
0:HasComponent	Object	EmergencyStopFunctions		0:FolderType	O
0:HasComponent	Object	ProtectiveStopFunctions		0:FolderType	O
0:HasComponent	Object	2:ParameterSet		0:BaseObjectType	M
0:HasProperty	Variable	2:ComponentName	0:LocalizedText	0:PropertyType	O
Conformance Units
Rob MotionDeviceSystem Base
Rob Emergency Stop Function
Rob Protective Stop Function

The components of the SafetyStateType have additional subcomponents which are defined in Table 22.

Table 22 – SafetyStateType Additional Subcomponents

Source Path	Reference	NodeClass	BrowseName	DataType	TypeDefinition	Others
EmergencyStopFunctions	0:HasComponent	Object	<EmergencyStopFunctionIdentifier>		EmergencyStopFunctionType	MP
ProtectiveStopFunctions	0:HasComponent	Object	<ProtectiveStopFunctionIdentifier>		ProtectiveStopFunctionType	MP
2:ParameterSet	0:HasComponent	Variable	OperationalMode	OperationalModeEnumeration	0:BaseDataVariableType	M
2:ParameterSet	0:HasComponent	Variable	EmergencyStop	0:Boolean	0:BaseDataVariableType	M
2:ParameterSet	0:HasComponent	Variable	ProtectiveStop	0:Boolean	0:BaseDataVariableType	M

The ComponentName property provides a user writable name provided by the vendor, integrator, or user of the device. The ComponentName may be a default name given by the vendor. This property is defined by ComponentType defined in OPC 10000-100.

EmergencyStopFunctions is a container for one or more instances of the EmergencyStopFunctionType. The number and names of emergency stop functions is vendor specific. When provided, this object contains a list of all emergency stop functions with names and current state. See description of EmergencyStopFunctionType for examples of emergency stop functions.

ProtectiveStopFunctions is a container for one or more instances of the ProtectiveStopFunctionType. The number and names of protective stop functions is vendor specific. When provided, this object contains a list of all protective stop functions with names and current state. See description of ProtectiveStopFunctionType for examples of protective stop functions.

Description of ParameterSet of SafetyStateType:

• The OperationalMode variable provides information about the current operational mode. Allowed values are described in OperationalModeEnumeration (10.4).
• 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.
• 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.