Hello everyone.
I have a program where I put a long part gripped lightly into a chuck. Sometimes the part moves enough for robot to say there's a collision, and sometimes the chuck closing signals a collision on the robot.
When those happen the user can just reset and continue.
The other problem is that the machine starts in the wrong time. Robot can disable the machine while it's in it, but that should be only done if the machine is pulling on the robot, not if robot collides somewhere else, because emergency stop on the machine breaks the tool almost every time. (This problem happened once and I've found the most probable cause and solved it, but still, to be 100% sure I'd like to put a safety in)
Is there a way to set up some output to trigger on collision, but with different than standard sensitivity? So the robot would stop itself already, but if the force keeps growing it should trigger an output.