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--- getting_started:tutorials:oneaxis [2026/07/28 09:17] – [Control System] ursgraf
+++ getting_started:tutorials:oneaxis [2026/07/28 11:10] (current) – [Safety System] ursgraf
@@ Line 58: / Line 58: @@
 ==== Safety System ====
 Safety levels and events are declared in ''SMCSafetyProperties.hpp''. ''SMCSafetyProperties.cpp'' initializes these objects, defines critical inputs and outputs, defines level actions, and adds the levels to the safety system. The levels and events causing transitions between those levels are shown in the next figure.
-[{{ :getting_started:tutorials:safetysystemoneaxis.jpg?700 |//Safety levels and events//}}]
+[{{ :getting_started:tutorials:safetysystemoneaxis.png?700 |//Safety levels and events//}}]
 A critical input is defined: //emergency//. //enable// is a critical output. Critical inputs and outputs are checked and set by each safety level. For example //enable// is set to ''true'' as soon as the safety level is equal or higher than //powerOn//. //emergency// is unchecked for the two lowest levels and leads to level change to level //emergency// for higher levels.