SafetyIO

class ServiceVersion

Identifies SafetyIO service current version

Canonical

kortex_api.autogen.messages.SafetyIO_pb2.ServiceVersion

RESERVED_0 (0):   Reserved

CURRENT_VERSION (1):   Current version

class SafetyIOType

Safety functions status

Canonical

kortex_api.autogen.messages.SafetyIO_pb2.SafetyIOType

SAFETY_IO_TYPE_UNSPECIFIED (0):   Unspecified status

SAFETY_IO_TYPE_INPUT (1):   Safety input type

SAFETY_IO_TYPE_OUTPUT (2):   Safety output type

class SafetyInputFunction

Safety input functions

Canonical

kortex_api.autogen.messages.SafetyIO_pb2.SafetyInputFunction

SAFETY_INPUT_FUNCTION_UNASSIGNED (0):   Unassigned function

SAFETY_INPUT_FUNCTION_PROTECTIVE_STOP_MANUAL_RESET (1):   Protective stop with manual reset

SAFETY_INPUT_FUNCTION_PROTECTIVE_STOP_RESET(2):   Protective stop reset (resume for manual reset)

SAFETY_INPUT_FUNCTION_PROTECTIVE_STOP_AUTOMATIC_RESET (3):   Protective stop with automatic reset

SAFETY_INPUT_FUNCTION_REDUCED_MODE (4):   Reduced mode

SAFETY_INPUT_FUNCTION_ENABLING_DEVICE (5):   Enabling device

SAFETY_INPUT_FUNCTION_ACKNOWLEDGE (6):   Acknowledge function

class SafetyOutputEvent

Safety output event

Canonical

kortex_api.autogen.messages.SafetyIO_pb2.SafetyOutputEvent

SAFETY_OUTPUT_EVENT_UNASSIGNED (0):   Unassigned event

SAFETY_OUTPUT_EVENT_EMERGENCY_STOP (1):   Emergency stop event

SAFETY_OUTPUT_EVENT_PROTECTIVE_STOP (2):   Protective stop event

SAFETY_OUTPUT_EVENT_MONITORED_STOP (3):   Monitored stop event

SAFETY_OUTPUT_EVENT_ARM_MOVING (4):   Arm moving event

SAFETY_OUTPUT_EVENT_NORMAL_SPEED_MODE (5):   Normal speed mode event

SAFETY_OUTPUT_EVENT_DRIVE_POWER (6):   Drive power event

class SafetyIOChannelStatusType

Safety io channel status

Canonical

kortex_api.autogen.messages.SafetyIO_pb2.SafetyIOChannelStatusType

SAFETY_IO_CHANNEL_STATUS_UNSPECIFIED (0):   0x0 - Unspecified status

SAFETY_IO_CHANNEL_STATUS_0_TRIGGERED (1):   0x1 - Channel 0 triggered

SAFETY_IO_CHANNEL_STATUS_1_TRIGGERED (2):   0x2 - Channel 1 triggered

SAFETY_IO_CHANNEL_STATUS_2_TRIGGERED (4):   0x4 - Channel 2 triggered

SAFETY_IO_CHANNEL_STATUS_3_TRIGGERED (8):   0x8 - Channel 3 triggered

SAFETY_IO_CHANNEL_STATUS_4_TRIGGERED (16):   0x10 - Channel 4 triggered

SAFETY_IO_CHANNEL_STATUS_5_TRIGGERED (32):   0x20 - Channel 5 triggered

SAFETY_IO_CHANNEL_STATUS_6_TRIGGERED (64):   0x40 - Channel 6 triggered

SAFETY_IO_CHANNEL_STATUS_7_TRIGGERED (128):   0x80 - Channel 7 triggered

class SafetyIOChangeEvent

Safety io change event

Canonical

kortex_api.autogen.messages.SafetyIO_pb2.SafetyIOChangeEvent

SAFETY_IO_CHANGE_EVENT_UNSPECIFIED (0):   Unspecified change event

SAFETY_IO_CHANGE_EVENT_CONFIG (1):   Safety io status change event

SAFETY_IO_CHANGE_EVENT_STATUS (2):   Safety io config change event