7 OPC UA ObjectTypes ToC Previous Next

7.7 SafetyStateType ObjectType Definition ToC Previous Next

7.7.3 ObjectType description ToC Previous Next

7.7.3.1 Variable ComponentName ToC

The ComponentName property provides a user writeable 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 UA DI.

7.7.3.2 Object EmergencyStopFunctions ToC

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.

Table 29 – TypeDefinition of EmergencyStopFunctions of SafetyStateType

Attribute Value
BrowseName EmergencyStopFunctions
References NodeClass BrowseName DataType TypeDefinition Modelling   Rule
HasComponent Object <EmergencyStopFunctionIdentifier>     EmergencyStopFunctionType Mandatory Placeholder

Table 30 – ObjectType EmergencyStopFunctionType

Attribute Value        
BrowseName EmergencyStopFunctionType        
References Node   Class BrowseName DataType TypeDefinition Modelling   Rule
Subtype of the BaseObjectType defined in OPC Unified Architecture          
HasProperty Variable Name String PropertyType Mandatory
HasComponent Variable Active Boolean BaseDataVariableType Mandatory

Description of EmergencyStopFunctionType:

According to ISO 10218-1:2011 Ch.5.5.2 Emergency stop the robot shall have one or more emergency stop functions.

  • The Name of the EmergencyStopFunctionType provides a manufacturer-specific emergency stop function identifier within the safety system. The only named emergency stop function in the ISO 10218-1:2011 standard is the “Pendant emergency stop function”. Other than that, the standard does not give any indication on naming of emergency stop functions.

  • The Active variable is TRUE if this particular emergency stop function is active, e.g. that the emergency stop button is pressed, FALSE otherwise.

    7.7.3.3 Object ProtectiveStopFunctions ToC

    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.

Table 31 – TypeDefinition of ProtectiveStopFunctions of SafetyStateType

Attribute Value        
BrowseName ProtectiveStopFunctions        
References Node   Class BrowseName DataType TypeDefinition Modelling   Rule
HasComponent Object <ProtectiveStopFunctionIdentifier>     ProtectiveStopFunctionType Mandatory Placeholder

Table 32** **– ObjectType ProtectiveStopFunctionType

Attribute Value        
BrowseName ProtectiveStopFunctionType        
References Node   Class BrowseName DataType TypeDefinition Modelling   Rule
Subtype of the BaseObjectType defined in OPC Unified Architecture          
HasProperty Variable Name String PropertyType Mandatory
HasComponent Variable Enabled Boolean BaseDataVariableType Mandatory
HasComponent Variable Active Boolean BaseDataVariableType Mandatory

Description of ProtectiveStopFunctionType:

According to ISO 10218-1:2011 Ch.5.5.3 the robot shall have one or more protective stop functions designed for the connection of external protective devices.

  • The Name of the ProtectiveStopFunctionType provides a manufacturer-specific protective stop function identifier within the safety system.
  • The Enabled variable is TRUE if this protective stop function is currently supervising the system, FALSE otherwise. A protective stop function may or may not be enabled at all times, e.g. the protective stop function of the safety doors are typically enabled in automatic operational mode and disabled in manual mode. On the other hand for example, the protective stop function of the teach pendant enabling device is enabled in manual modes and disabled in automatic modes.
  • The Active variable is TRUE if this particular protective stop function is active, i.e. that a stop is initiated, FALSE otherwise. If Enabled is FALSE then Active shall be FALSE.

Examples

The table below shows an example with a door interlock function. In this example, the door is only monitored during automatic modes. During manual modes, the operators may open the door without causing a protective stop.

Table 33 – Door Interlock Protective Stop Example

  Automatic Mode Manual Mode    
Door interlock Enabled Active Enabled Active
Door closed TRUE FALSE FALSE FALSE
Door open TRUE TRUE FALSE FALSE

The next example shows how the three-position enabling device normally found on teach pendants is processed. In this case it does not matter if the enabling device is pressed or not during automatic modes, while in manual modes, a protective stop is active as long as the enabling device is released or fully pressed.

Table 34 – Teach Pendant Enabling Device Protective Stop Example

  Automatic Mode Manual Mode    
Teach Pendant Enabling Device Enabled Active Enabled Active
Released FALSE FALSE TRUE TRUE
Middle position FALSE FALSE TRUE FALSE
Fully pressed (panic) FALSE FALSE TRUE TRUE

7.7.3.4 Object ParameterSet ToC

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

Description of ParameterSet of SafetyStateType:

  • 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

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