Question on teach mode ?

[robots_at_apex]

I have an IRC5 controller. At the moment I can only jog the robot from outside the fence  OR another way is I have to go into teach mode and lock myself inside to jog the robot fro inside OR else I have to put the factory jumper plugs back into the terminals X1 to X4 safety board.

I thought as long as you break AS (auto stop) it would allow you leave the gate opened and jog the robot from inside  Does anyone have a wiring example or any ideas?

[ABB robter]

Two things to look at.
First X3 auto stop is 9 and 11
Second X4 must match X3 (Auto Stop 2) or you have a chain fault.

[Wolf Tech]

Two things to look at.
First X3 auto stop is 9 and 11
Second X4 must match X3 (Auto Stop 2) or you have a chain fault.

This would be correct for a S4C or S4C+, not IRC5. The IRC5 panel board has X1 and X2 for Estop, X5 for Auto and General stop, and X6 for Superior stop. If you can still connect to X3 or X4, you have an early version of the panel board. These were for customer I/O, 8 in and 8 out. To many people were shorting out the I/O and ruining the whole board, so ABB took that away.

When you pull the gate plug, what is the status of you LED's on the panel board? They should all be lit except AS1 and AS2, which both have to be off. Here are the IRC5 safety chain schematics.