enable button of Integrated robotics

[Hudson]

Hello,

One question I have is how to use the enable button with dummy connector. according to the instruction of periheral, the step are

1.inserted the dummy plug to robot controller

2.configured the iomap.cfx file

the question are:

1. should I change the dummy connector? I mean I need to connect enable button to the dummy connector?

2.or follow 'safety wiring via Ethernet', actually I am not understanding how the function is work

thank you

[Thorsten_Brach]

If you want to jog the robot with safe-limited-speed while the safetydoor is overrided and the enable button is pressed,
then the Robot mode must be set to manual [T1] - ( The stäubli accept UniValPlc commands also in Mode T1 )

If you have a closed cell without any safetydoor, then the robot can remain always in Remote .

[Hudson]

thank you very much~

if I do not set to T1  mode, what is then happened? the robot cannot be jog by PLC from system side? or just only considering the safety, so we must configure like that? if I need to set some configuration in the robot side?  thank you

[Hudson]

thank you for your support ^^ the robot is working well with safety function now