CRX Contact Stop disabling

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Hi,

You can disable the contact stop from a Digital output (DO[x]).

First, set unassigned DO to NSI. In this example, DO[70] = NSI[1]. NSI is RACK 36, SLOT 0

You might have to reboot the robot for the assignment to be active.

Then, in DCS Safe IO connect menu, set SIR[1] = NSI[1].

Then, in DCS Collaborative robot menu, set SIR[1] as the disabling input.

Apply DCS modifications and reboot.

After that, you should be able to disable Contact Stop from DO[70].
You see the robot LED turn yellow.

To be really safe, I recommand you add another condition to disable the contact stop: a Cartesian Position Check.
Create a Cartesian Position Check (CPC) that checks the position of your tool (user model).
Define a precise location where the contact stop will be allowed to be disabled.

Change the Safe IO connect condition for SIR[1]:

SIR[1] = NSI[1]   AND  CPC[1].

When the Digital output DO[70] = ON      AND    robot tool is at the correct position,    contact stop will be disabled. 

Hello, I've encountered an issue where the system transitions from robot to cobot mode upon reaching a certain step in the program (output #70), followed by an abrupt halt with a 'force contact stop' in mid-air. Despite attempting various troubleshooting methods, no luck so far.

Any suggestions for resolution would be greatly appreciated.

Hi,

Can you show us the code where you deactivate the contact stop?

Yes, see attached

Hi,

can you open the program but with the old view? We can't see the logic of the program with these icon.

Press after that select and enter on your program and show us the lines where the contact stop is disabled

Sure, here you go 

Error occurs at line 131

Hi,

When the DO 70 is ON, that means that the robot is none colab because the mapping of this I/O is for the disabling of the contact stop. That means that your robot is colab only from line 132 to 139. What are those moves? If it stops during those moves, maybe the payload is not adjusted to the real life.

Have you tried running the payload compensation tool?

Correct, I am switching from/to cobot/robot mode throughout the prg and also using different payload wherever necessary in the prg.

I will try to use payload compensation and post the update here, thanks for all the help and suggestions.