Get safety violation details from safety controller
URL
/ctrl/safety
Method
GET
URL Params
resource=violation-info Required
See Common URL parameters
Data Params
None
Success Response
HTTP_OK(200), see HTTP Status codes
Example Response
<?xml version="1.0" encoding="utf-8"?>
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<title>controller</title>
<base href="http://localhost/ctrl/safety/" />
</head>
<body>
<div class="state">
<a href="" rel="self"> </a>
<a href="?action=show" rel="action"> </a>
<ul>
<li class="safety-violationinfo" title="violation-info">
<span class="violation-num">0</span>
<span class="violation-type">none</span>
<span class="last-violation-instance-id">0</span>
<span class="unsynchronized">0</span>
<span class="tool-id">0</span>
<span class="drive-module-index">0</span>
<span class="violating-ssv">48</span>
<span class="tool-pos-violation-status">0</span>
<span class="tool-pos-active-status">0</span>
<span class="upper-arm-violation-status">0</span>
<span class="tool-speed-violation-status">0</span>
<span class="tool-speed-active-status">0</span>
<span class="axis-range-violation-status">0</span>
<span class="axis-range-active-status">0</span>
</li>
</ul>
</div>
</body>
</html>
Resources
- safety-violationinfo
- none
- stz - Safe Tool Zone
- sar - Safe Axis Range
- sts - Safe Tool Speed
- sas - Safe Axis Speed
- tom - Tool Orientation Monitoring
- osr - Operational Safety Range (Area?)
- sst - Safe Standstill
- red_tool_speed - Reduced Tool Speed (Manual mode)
- red_axis_speed - Reduced Axis Speed (Manual mode)
- unsync_speed_lim - Reduced Axis Speed due to unsynchronized robot
- empstop - EmStop triggered
- other - Internal error
- invalid
Error Response
BAD_REQUEST(400), FORBIDDEN(403)
see HTTP Status codes
Sample Call
curl --digest -u "Default User":robotics "http://localhost/ctrl/safety?resource=violation-info"
Notes
Not supported in bootserver mode
User should have Safety services privileges