Values not available in Modbus reading

[TomSAVU]

All below refers to Modbus operations with Gen3 Lite.

When reading the Fault Flag Discrete Inputs (address 32 to 62), I am expecting to see some flags changing.
The "Emergency stop activated" flag is changing correctly, but I was expecting the "Unable to reach pose" flag to change if I am trying to send the arm in an impossible position. This is not happening.
The same when reading the Fault Flag Registers, addresses 2 and 3.

When reading the warning flags, either discrete inputs (address 64 to 94) or registers (addresses 4 and 5), I am receiving no data, all the bits are False when I am stopping the arm with the emergency button.
When are these warning flags activated?

[martinleroux]

Hi @TomSAVU ,

The faults and warning flags refer to the safeties of the robot, as seen in the Safeties page of the Web App. The robot not being able to reach a position does not put the robot in a fault state, hence why you don't see the flags changing.

The warnings are the same, but trigger for values slightly lower than faults (again, see the Safeties page).

Cheers