How to change force setting on collaborative robot (CR-7iA)

    Hi,
    Hope you can help me with this.

    I'm setting up a collaborative robot and need to use two different force settings.
    - Limit1: 50N for regular moves
    - Limit2: 150N for fixture moves

    Those settings can be changed in DCS menu by the use of a disabling input. Basically you set two limits and use an input to disable one of them.


    I’ve been reading the collaborative robot operator’s manual but it talks about using Safe I/O Connect option which I don’t have.

    Is there another way to setup a disabling input for one of the limits?
    I see option for SIR and other safe I/O but I’m not sure how to turn them On/Off in the program.

    Thanks,
    Tom

    You usually would use hard wired safe inputs, SFDI. On the regular controller these are on the CRMB2 connector located on the Estop board. But I don't recall if the mate controller has this built in.

    If not then you would need to either buy the add-on dcs I/O board or purchase a Safe comm protocol option, such as Safety EthernetIP.

    Hard wired SFDI shows up as SPI in the safe IO menu.

    Edited once, last by HawkME (May 14, 2019 at 3:18 AM).

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