ABB SafeMove2, Applications Manual, Page: 98 / 238

Description Function
True if configuration is locked. ConfigurationLocked
i
Can, for example, be used as extra precaution by connecting
to a PLC that disables robot operation in automatic mode
when the configuration is unlocked.
True if power is enabled to the actuators. DriveEnable
DriveEnable is the safety controllers way of ensuring that
there is only power enabled to the actuators when there are
no safety violations. This is done through the superior stop
input on the panel board.
False if the emergency stop on the FlexPendant is pressed. LocalEmergencyStopStatus
This can be used to send local emergency stop status to
other devices.
Set to True when the safe external communication is about
to be terminated, beginning in no less than 1 second. This
will happen in case of controlled shutdown, for example
during robot controller shutdown. ExtComShutdownReq
ii
Only used only with ExtComShutdownReq. If True, the safety
controller is allowed to shut down before 1 second has
passed after the ExtComShutdownReq was set. For example,
this can be set to True by the PLC when preparations have
been made after ExtComShutdownReq is set to True. ExtComShutdownAck
ii
True if manual mode is selected. ManualMode
True if manual full speed mode is selected. ManualFullSpeedMode
True if the power to the motors is enabled. DriveEnableFeedback
The SafetyEnable function should, when possible, be con-
nected to a safe input signal from, for example, a PLC. This
signal shall be set to True as soon as communication is up
and running. SafetyEnable
When False, all signal activated supervision functions, such
as stop configurations, will be deactivated, and DriveEnable
will be set to False, disabling robot motion.
True if Service mode is activated. ServiceModeActive
i
False if a category 0 stop is active. Stop0Status
False if a category 1 stop is active. Stop1Status
Note that this will be a very brief indication since a category
1 stop is converted to a category 0 stop when all robot motion
has ceased.
True if the safety controller is running without errors. SafetyControllerOperational
It is False during start-up before SafetyEnable is set to True,
during shutdown of the controller or if there is a critical failure
of the safety controller.
True if external power control is active. ExternalPowerControlActive
Not used in the standard delivery.
i
Only used for option SafeMove Basic or SafeMove Pro .
ii
Only with safe fieldbus option (997-1, 997-2, 997-3 or 997-4).
98 Application manual - Functional safety and SafeMove2
3HAC052610-001 Revision: P
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4 The Visual SafeMove user interface in RobotStudio
4.6.3 Function mappings
Continued