Differences

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--- safety_system [2019/04/15 21:30] – 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}}
@@ Line 7: / Line 9: @@
 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): This button is active in safety level ''slSystemReady''. Pressing it will fire an ''doAutoMoving'' event and the robot will go into safety level ''slAutoMoving''. Further, it is also active in ''slEmergency''. If pressed there, it will fire ''doControlStart'' which causes the robot to go into safety level ''slControlStarting'' from where the main sequence will restart.
-  * Stop button (blue): Press while being in auto moving state or in mouse moving state. It will fire an ''seStopMoving'' event which causes the safety system to switch to level ''slSystemReady''.
-  * Stop button: Press three times while in safety level ''slSystemReady'' and the application will will park the tool center point and terminate subsequently.
-  * Start button together with stop button: If both buttons are pressed together in safety level ''slSystemReady'' the robot will start its calibration sequence.
-Each of the three buttons contain a LED giving the buttons its color.
-  * The red emergency button lights up as soon as the robot goes into emergency state. It will switch off upon leaving this state.
-  * The green LED is on as long as the robot is not in emergency state, parked. or switched off.
-  * The blue LED indicates that the associated button can be pressed, see above.
+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.