7.Safety Client
The Safety Client service monitors the Estop button state and send Set Estop messages accordingly to the Safety service. For redundancy, the Safety Client queries Subsystem Health Summary from the Status Monitor service of the subsystem. It sets E-stop if the Subsystem Health Summary is in Error or Fatal.
Note that Safety Client needs to obtain control of the Safety service while sending the Set Estop message.
Require: none
Inherit from: none
7.1 Service Behavior
7.1.1 State Diagram
Figure 9 Management Client Diagram
7.1.2 State Actions
State | ID |
---|---|
OPERATIONAL | Monitor the Estop button state and the health summary of the subsystem, sends Set Estop messages with the Estop state to the Safety service. |
FAULT | Hardware problem, stop sending Set Estop messages. |
7.1.3 Internal Events
Event | Parameters | Purpose |
---|---|---|
ieReceiveMessage |
7.1.4 Transitions
Transition | Trigger | Condition | Action |
---|---|---|---|
A | Hardware problem detected |
7.2 Protocol
7.2.1 Incoming Message Set
# | ID | Message |
---|---|---|
1 | H:0x00000001 L: 0x0000013A | Report Health Summary |
2 | H:0x00000001 L: 0x0000012B | Confirm Control |
3 | H:0x00000001 L: 0x0000012C | Reject Control |
4 | H:0x00000001 L: 0x0000012D | Report Control |
7.2.2 Outgoing Message Set
# | ID | Message |
---|---|---|
1 |
H:0x00000001 L: 0x00000128 |
Request Control |
2 |
H:0x00000001 L: 0x00000139 |
Query Health Summary |
3 |
H:0x00000001 L:0x00000138 |
Set Estop |
4 |
H:0x00000001 L: 0x0000012A |
Query Control |
5 | H:0x00000001 L: 0x00000129 | Release Control |
7.3 Parameters
Name | ID | Unit | Default |
---|---|---|---|
Cycle Interval | double | second | 0.1 |
Critical Data Timeout | double | second | 0.2 |
Report Data Timeout | double | second | 2.0 |
Critical Message Interval | double | second | 0.1 |
Message Interval | double | second | 1.0 |
Authority Code | unsigned byte | second | 225 |