RJ2 - External Emergency Stop Connections.

[worseltes]

Hello all,

I've just this morning had the good fortune of having a S420iW RJ2 robot dropped in my lap and being told to get it running.

Problem is that this robot was free issued by our customer and they had purchased it used... Everything appears to be functioning fine, but the external emergency stop circuit is not jumpered out, so I cannot jog the robot.  Can somebody tell me where to find the EMGIN1, EMGIN2, EMGINC terminals on the RJ-2 controller?  I'm assuming that the terminals would be the same as those on the RJ-3 / 3iB controllers but I cannot locate them anywhere...they don't appear to be on the user operator panel board as usual and unfortunately the connections manual was not supplied with the robot. (natch)

Appreciate your help in advance!!

Mark

[maurice7887]

Hi Mark,

Please check again that small PCB on the inside of the door of the controller.
There you have to bridge the signals as needed, like emergency stop, servos on, and so on
See attached picture

[Professor_J]

No sure I'd recommend bridging the "FENCE" signal as has been done in the photo! Not exactly the safe way to use a robot.. If you just need to jog the robot there's no need to bridge the FENCE..

[worseltes]

Agreed, Professor.

  Also, thank you Maurice, but unfortunately the picture you sent doesn't match the board in my robot (see attached).

 There is a devicenet card in the system however...is it possible that the external e-stop signal is not hardwired, but pulled from the DN network? If so...how do I change this?

Cheers,

Mark

[Napierian]

I am not sure what that Op board is, but I will say that the External Estop HAS to be a hard wired signal, otherwise it cannot be a true safety signal.  The only estop signal you may see through DeviceNet is *IMSTP. 

If I were to hazard a guess as to where the external estop and fence wiring is is on the terminal strip on the upper left hand side.  It looks like there are 4 non Fanuc wires there, 2 will probably be fence , and 2 will probably be external estop.  There is a good possibility of a silkscreen label on the PCB defining their use.

Good luck with this

[worseltes]

Thanks Napierian,

Appreciate the feedback.  Based on what I know of the RJ3 controller,  I had assumed the same as you about the location of the external e-stop tie-in, however it seemed pretty fruitless. The terminals on the left are labeled SD4,SD41,SD5,SD51,EXON,EXCOM,EXOFF.  There is a jumper between EXCOM and EXOFF, adding a jumper between EXCOM and EXON did nothing. 

The terminals on the right are labeled S2+,S2-,S3+,S3-,24V,0V.  I was wary about installing any jumpers on these terminals since I do not know their function and there is voltage present on a couple of them.

Any further assistance you or anyone else could lend would be greatly appreciated.

Still looking...

Mark

[worseltes]

Almost forgot...those "non-Fanuc" wires are tied into auxiliary contacts on the servo motor disconnect.

[Industrialrobotix]

That appears to be a control reliable RJ-2 which has a redundant e-stop board and some very different way's to jump the safety signals....I think it was an adder to robot cabinets for GM and other automotive companies who decided they needed dual chain....Drop me an email at eriks@industrialrobotix.com - the RJ2 control reliable robots have a redundant estop board - some are terminated to harting connectors on the back of the control or on the top - we have pinned this out and have a diagram that will help you get it running....you can either achieve the jumping at the board level, or do it at the harting connector and make a dummy plug which works quite well....it is hard to find a good manual on the correct pinout for the RJ2 redundant estop boards on the 420i units for some reason....

[worseltes]

Thanks very much, Erik.  This is very helpful...I have emailed you.

Cheers,

Mark

[jjr0062]

Yes it is a control reliable RJ-2
I had some notes around I ll see if I can find if Industrailrobotix can help.

Note alot of the part and relays in the CR RJ2 are not produced or available on the open market
today  Some can be found on ebay. 

Ive converted a couple of controllers but real expensive, lot of work and hair pulling.

[Napierian]

We have been able to convert the RJ and RJ2 series controllers to "GM spec", CE mark, or Dual channel safety.  We use an aftermarket op board that allows us to recreate the fanuc equivalent, using current hardware.  Our board has been passed by Canadian safety standards.  I am sure it can be dropped in as a replacement for the fanuc OEM CE mark Op board.

[dafrenchman]

Allo

I have the same setup looks like. What did you end up doing to get around the "reliable" features?

Thanks

[Bill Watts]

That appears to be a control reliable RJ-2 which has a redundant e-stop board and some very different way's to jump the safety signals....I think it was an adder to robot cabinets for GM and other automotive companies who decided they needed dual chain....Drop me an email at eriks@industrialrobotix.com - the RJ2 control reliable robots have a redundant estop board - some are terminated to harting connectors on the back of the control or on the top - we have pinned this out and have a diagram that will help you get it running....you can either achieve the jumping at the board level, or do it at the harting connector and make a dummy plug which works quite well....it is hard to find a good manual on the correct pinout for the RJ2 redundant estop boards on the 420i units for some reason....

I believe that we have one of these as well.  We have contacted FANUC but have not been able to get the required information.  Would there be any way that you could help us out with this?
Thank you in advance

[dafrenchman]

I was able to use the Dummy plug and jumper out some of the terminal. I forget which, in addition to what is already and got me running for robot testing. Something line pin 19-20 and 21-22. It may need just one. Not too sure.

[Ydna]

I have one of the electrical maintenance sheets for the appropriate controller version. The spec is called RJ2 RS1-RS4. Not sure what any of this stands for but it's for the redundant control reliable system and all its GM craziness.
In that controller, you have the rear SC-1 connector on the back, but there are also screw terminal contacts on the operator panel board.
E-mail me if anybody wants the manual. It may or may not help depending on the hardware installed, but it's worth a try...