System Specification
System Specification
ISO-10218-1
Run permitted and Stop 1
- Note
- RUN_PERMITTED == 1/TRUE <-> manipulator is allowed to move freely
-
RUN_PERMITTED == 0/FALSE <-> manipulator is NOT allowed to move (except for stop motion)
Spec - execution_of_stop1 (Tests)
- The execution of a Stop1 consists of the following steps: Controller:hold (includes execution of Stop1 trajectory) -> Driver:halt
- If a release_of_stop1 is in progress, the Stop1 is executed as soon as the release_of_stop1 has finished.
- If the hold step fails, the system still tries to execute the halt service. (see also Spec - hold_service_fail)
Please note:
- The stop1 process cannot be interrupted, even if the RUN_PERMITTED changes to TRUE.
Spec - release_of_stop1 (Tests)
- The release of a Stop1 consists of the following steps: Driver:recover -> Controller:unhold
- If a execution_of_stop1 is in progress, the Stop1 is released as soon as the execution_of_stop1 has finished.
Spec - release_of_stop1_interrupt (Tests)
- The system ends the release of the Stop1 after the recover step in the following cases:
- If a execution_of_stop1 is triggered during the recover step,
- If the recover step fails.
Spec - Stop1_Trigger (Tests)
- The execution of a Stop 1 is triggered, if at least one of the following cases is true:
- the state of the RUN_PERMITTED changes from TRUE -> FALSE
- connection to safety controller is lost,
- the messages informing about the RUN_PERMITTED (coming from the safety controller) is incomplete or in any way corrupted,
- the communication protocol used by the safety controller does not fulfill the expected specification (defined by the version of the protocol).
- The release of a Stop 1 is triggered, if the state of the RUN_PERMITTED changes from FALSE -> TRUE
Spec - unhold_service_fails (Tests)
- If the controller unhold service fails, Stop1 can still be triggered.
Spec - hold_service_fail (Tests)
- If the controller hold service fails during Stop1, the driver is still halted.
Spec - stop1_missing_services (Tests)
- The system is not allowed to complete the startup procedure until all necessary services are available.
Braketest
Spec - Is_BrakeTest_required_mechanism (Tests)
- The system provides a mechanism which allows to determine if a braketest is requested by the safety controller.
- The value returned will indicate if a braketest is requested, not requested or if it is currently unknown if a braketest has to be performed. It is unknown if a braketest has to be performed if the communication with the safety control is lost or corrupted.
Spec - Execute_BrakeTest_mechanism (Tests)
- The system provides a mechanism which allows to execute a brake test.
- The brake test is performed for all axes.
- The brake test mechanism returns a status stating if the brake test was successful xor what error occured.
- At the beginning of the brake test it is checked if the manipulator is currently moving. In case the manipulator is moving, the brake test is not performed and an error is retured.
- As long as the brake test is performed no motion is allowed. Commands send during the execution of the brake test are rejected.
- Brake tests are only performed for drives which define that they require a brake test (configurable via config file or parameter server).
- After the brake test is performed the result of the brake test is reported back to the safety controller. The result is also reported back to the safety controller if the brake test was not required by the safety controller.
- If the connection to the safety controller is lost, no further action regarding the sending of the brake test result is taken (e.g. NO result sending as soon as the connection is established again).
Operation Mode
Spec - Get_OperationMode_mechanism (Tests)
- The system provides a mechanism which allows to request the current operation mode of the safety controller.
- The mechanism to request the operation mode returns UNKNOWN, if at least one of the following cases comes true:
- the connection to the safety controller is lost,
- the messages informing about the operation mode (coming from the safety controller) is incomplete or in any way corrupted,
- the communication protocol used by the safety controller does not fulfill the expected specification (defined by the version of the protocol).
Speed Monitoring
Spec - speed_monitoring_per_operation_mode (Tests)
- The Controller speed monitoring is active dependent on the operation mode.
- In operation mode T1 it is always active.
- In operation mode AUTOMATIC it is never active.
Speed Override
- The speed override is a global factor in the range [0, 1] which is applied to the velocity scale of all motion commands (expect gripper).
Spec - speed_override_per_operation_mode (Tests)
- The currently active speed_override depends on the operation mode:
- In T1 the speed override is 0.1.
- In AUTOMATIC the speed override is 1.0.
- If the operation mode is unknown, the speed override is set to zero.
Other Setups (No ISO-10218-1 Support)
Simulated Robot
Spec - speed_override_for_simulated_robot (Tests)
- If the system is connected to a simulated robot instead of a real robot, the speed override (Speed Override) is 1.0.
No Operation Mode Support
Spec - speed_override_without_operation_mode_support (Tests)
- If the system does not support operation modes, the speed override (Speed Override) is 1.0.
Spec - speed_monitoring_without_operation_mode_support (Tests)
- If the system does not support operation modes, the speed monitoring (Speed Monitoring) is deactivated.