Differences

This shows you the differences between two versions of the page.

--- safety-ntb [2019/08/09 16:16] – visentin
+++ safety-ntb [2019/08/14 14:29] – visentin
@@ Line 1: / Line 1: @@
 ====== Safety System ======
-To get more informations and details about how the Safety System works, please have a look into the
+The safety system is the same as [[safety_system|]], except some functions of the blue and green buttons.
-[[http://wiki.eeros.org/eeros_architecture/safety_system/start|Safety System]] described in the [[http://wiki.eeros.org/|eeros wiki]]. Various safety events allow to switch between the safety levels. They are triggered by the safety system itself or by the sequencer. \\
-\\
-{{:delta:software:safetysystem.jpg|Safety System of the Delta Roboter}}
-The entry level of the safety system is //slControlStarting//, where the control system is started and the event ''controlStartingDone'' is triggered. \\
-There is one critical input: the red button in the middle works as an emergency button. As soon as it is pressed a ''doEmergency'' event is triggered.
+The green and blue buttons cause the following actions:
+  * Start ''autoMoving'' -> Switch from ''slSystemReady'' to ''slAutoMoving'' -> green button
+  * Switch to ''slEmergency'' -> red button
+  * Restart after ''emergency'' -> green button
+  * Stop motion (autoMoving or Mouse) -> press blue button
+  * Park the robot and shut down -> press three times while in safety level ''slSystemReady''
+  * Start calibration: if the robot is in safety level ''slSystemReady'', blue button pressed together with green button will start the calibration sequence.
+  * During calibration -> Press the blue button to continue to the next step.