This service will monitor the saftey PLC within the machine motion AI and reports its status.
For direct communication with the MMAI.
On startup the safety state is assumed to be 0 (None), until an initial transmission is received and parsed. Other possible values are; -1 for ERROR, 1 for EMERGENCY_STOP and 2 for NORMAL. Cycle time between the MMAI and the Safty PLC is just under 0.5ms.
Available only on servers:
Accepts the following message:
{
"safety_state": 0
}
Monitor the reset state. Before initial transmition the state of this port is assumed to be in an OK state 0.
Available only on servers:
Accepts the following message:
Monitor the state of the robot in port. Before initial transmition the state of this port is assumed to be in an OK state 0.
Available only on servers:
Accepts the following message:
Monitor the state of the estop in port. Before initial transmition the state of this port is assumed to be in an OK state 0.
Available only on servers:
Accepts the following message:
Monitor the state of the safty in port. Before initial transmition the state of this port is assumed to be in an OK state 0.
Available only on servers:
Accepts the following message:
Monitor the state of the safty in port. Before initial transmition the state of this port is assumed to be in an OK state 0.
Available only on servers:
Accepts the following message:
[
{
"code": 0,
"description": "plc-disconnected"
}
]