irb2000 problem

[arregui]

i have a irb2000 with emergency stop.

the lamp of emergency stop always on and puss the reset but the lamp continous on.
and when save the default param to prom the unit show this error. error on unit programing and the system reset and the panel show this error 502 in memory.

reset again and show the always mesage error 503 emergency stop.

i can connect a PC with a program if the system be in a emergency stop?
i find a SPORT S3 program but dont recognizes the robot. there are other program to this robot??

the safety target is a dsqc210. the leds A and B be off and the leds EN and C is on.
the 3 leds of E-stop  is off too.
the rest of leds is ok.

help me please!!!
 sorry but my english is very bad.