To get more informations and details about how the Safety System works, please have a look into the Safety System described in the eeros wiki. Various safety events allow to switch between the safety levels. They are triggered by the safety system itself or by the sequencer.

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.