Best practice for EmergencyStop / AutoStop Feedback

[Simmu]

I recently set up an Omnicore system with ProfiSafe for the safety connections to our cell PLC.
The PLC programmer required feedback signals from the robot to verify that the controller was stopped correctly with the EmergencyStop / AutoStop signals.

I solved this by Setting up signals to be triggered by the Stop Trigger Status and then in the Post Logic I inverted them (because that’s the way the PLC was expecting them). This seems to work but I’m not entirely sure this is the correct way to do it.
Does anyone know (or have a reference to a manual that describes) the sequence for the Stop Configuration? The relation between “Trigger” and “Stop Trigger Status”. is the Status just mirroring the Trigger signal or is it only set after the Stop is successfully executed?

[tinr563]

!!! Please note I am not an ABB Safety expert so take this advice with a grain of salt !!!

The logic seems fine to me, as the manual states the ‘Stop trigger status’ signal ‘Specifies a safety signal that indicates that the safety stop is active.’

Another option is you could wire some output signals to the ‘Stop0Status’ and ‘Stop1Status’ signals in the function mappings screen. But this will likely create the same behaviour as your setup.

There is also a ‘LocalEmergencyStopStatus’ output that publishes the status of the eStop button on the teach pendant.