Differences

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--- safety_system [2019/04/15 16:24] – graf
+++ safety_system [2021/03/31 18:15] (current) – ursgraf
@@ Line 1: / Line 1: @@
 ====== Safety System ======
-To get more informations and details about how the Safety System works, please have a look into the
+To get more informations and details about how the Safety System works, refer to the
-[[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. \\
+[[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. The table shows the levels, events and the possible switches between levels in the specific application implemented for the delta robot. \\
 \\
 {{:delta:software:safetysystem.jpg|Safety System of the Delta Roboter}}
-The entry level of the safety system is //slSwInitializing//. \\
+The entry level of the safety system is //slControlStarting//, where the control system is started and the event ''controlStartingDone'' is triggered. \\
-There are 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 other two buttons cause the following actions.
+There is one critical input: the red button, i.e. the emergency button, which triggers ''doEmergency''.
-  * Start button (green):
-  * Mode button (blue):
-The entry level of the Safety System is //slSwInitializing//. In case of a failure in the control system, the safety event //doEmergency// is triggered by the timedomain.\\
+There are two critical outputs: the red and green LED lights. The red one is switched on when in emergency level, while the green one is switched on when the button has to be pressed: after an emergency to restart the robot and when in ''systemReady'', to start the automatic sequence.