We’re building a robotic cell and we want to use the Flexpendant for controlling other equipment in manual mode. We’re using a robot with SafeMove Basic option and Profisafe through Profinet network. I’m making a custom ScreenMaker application, and in my safety PLC I would like to have access to the TeachPendant’s enabling device. I’ve found the EN1 and EN2 signals in the robot controller, but I can’t figure out how to send them through ProfiSafe - they don’t seem to be accessible in the safety controller of the IRC5.
Any ideas?
Seems to me that the safety controller doesn’t have access to the enabling device’s state, this only being hard-wired in the run-chain. Still, I couldn’t figure out how/where it’s wired in the controller, how come the EN1 and EN2 signals are available in RobotStudio/FlexPendant…
What about using the enabling device without actually enabling the robot? For example keeping the robot in general stop state while being able to move other mechanisms.