Joggin problems

[RenewInd]

Just purchased an arcmate 100i, got it to turn on and we can now see the display on the teach pendant. When I try to jog it however, I recieve a message saying that every axis has inputs that are off. been up and down the menus, have cleared the all the alarms and still nothing. any help would be appreciated.

MTCL-013 ENLB input is off   

[Jim Tyrer]

It means that the UOP enable input is off.
You will need to jumper the input to make it true.
If memory is correct it is UI[8] to check status. (press menu->5->F1->6 if you have a R-J3iB controller)
Press F2 (config) to find where it is physically mapped to.

[RenewInd]

  cheers, I am using an rj-2 controller. and I am currently working with an rj-3 maintenance manual and think I may have found the answer in "Jogging when Activation from the Teach Pendant is Inhibited" section. It says that  "This function disables jogging unless the robot is prevented from being activated when using the teach pendant..." I have already done some physical jumps to the safeties, cage and common to off to turn it on.

[RenewInd]

It means that the UOP enable input is off.
You will need to jumper the input to make it true.
If memory is correct it is UI[8] to check status. (press menu->5->F1->6 if you have a R-J3iB controller)
Press F2 (config) to find where it is physically mapped to.

Just tried your suggestion and I was able to get the stack light (wich is on the robot to light up) sadly, our user timed out and we couldn't get it to go again. But we will keep trying.

[RenewInd]

SO in folowing Jim Tyrer's very helpful instructions I was able to get a reaction from the robot (Stan 2.0) however I now have a slew of errors that come up. Anyone know how I can get rid of these:
Servo-062 BZAL alarm group 1 axis 6 (this same message is given for axis 6-1)
MSTP-input group 1
reseting them doesn't seem to be helping too much as everytime we set them they return to their previous status.

[anonymous]

Reset the battery zero alarms (Servo-062 BZAL) for the pulse coders from the Master/Calibration screen (MENUS|NEXT|SYSTEM|F1 [TYPE]|Master/Cal|F3 RES_PCA|F4 YES, then cold start the robot (press the Power Off button, then with the SHIFT and RESET button on the teach pendant pressed, press the Power On button. (You may need to replace the four size D batteries if the battery zero alarms won't go away. You should replace the size D batteries only when the controller power is on and the software is running.)

Note:  If Master/Cal doesn't appear in the TYPE menu as described above, choose Variables from the SYSTEM screen's, TYPE menu and set the variable $MASTER_ENB = 1.

Following Jim Tyrer's earlier advice on setting the enable signal, you'll probably also need to tie user inputs UI[1] *IMSTP and UI[2] *Hold high (false) as well.

[RenewInd]

 
Well our battle is still on going. We reset the battery zero alarms for the pulse coders (thank you anonymous). But, it did not get rid of the alarms. So we looked for the "D" batteries    that we could not find. We did, however, find a 3v lithium CR 17450SE battery that I know was replaced by the previous owner. We now have a new alarm though, which is confusing me just a little more. it says MTCL-013 input is not enabled. Needless to say, I've been playing with the menu and looking in every possible screen to try to tie the user inputs UI(1) and ISMTP(2) to false with no luck. So it's back to the drawing board and another more careful read of the manuals and other information we have available. Always looking for more info though. 

[anonymous]

RenewInd,

Look for the pulse coder backup batteries behind a cover on the back of the robot's J1-axis base (casting).

For the user inputs, press MENU(s) and then select I/O|F1 [TYPE]|UOP|F3 IN/OUT.

[Jim Tyrer]

SRVO-062 SERVO BZAL alarm(Group:%d Axis:%d)
Cause: This alarm is issued when the battery for backing up the absolute position data of the pulse coder is not connected. The battery cable inside the robot might have become disconnected.
Remedy: Correct the cause of the alarm, then turn on power again after setting the system variable $MCR.$SPC_RESET to TRUE. Master the robot.
The cover that renewInd is referring to is (normally) made of black plastic. Pic below is from the 100iB Mech unit maint. manual.

MCTL-013 NONE ENBL input is off
Cause: ENBL input on the UOP is off.
Remedy: Set ENBL input ON.
Need to to have UI[1] (*IMSTP) UI[2] (*HOLD) UI[1] (*SFSPD) and UI[8] (Enable) pulled TRUE to be able to turn motors on and move the bot.
 

[irb]

Dear Friends

i have a problem about the pulse coder alarm resetting.
There is no menu under the System concerning Pulse Coder Alarm Resetting on RJ controller. Robot software version is V3.0613

There is no section as a called RES_PCA under the Master / Cal menu.
In order to reset Pulse Coder Alarm what should i do ?

Best Regards

[Professor_J]

Have you got to the Master/Cal screen? Is Master/Cal displayed when you press System and then F1 (Type)?

If not the you need to turn System Variable (System - Type - Variables) $MASTER_ENB to 1.. It will then be present in the System menu structure..

Once on this page RES_PCA should be the F3 button..

See the attached screenshots for more info (RJ-3 screenshots but it should be the same)..

[irb]

Dear Professor_J

WE have already done $MASTER_ENB to 1

But RES_PCA is not present.

Is there another way to reset Pulse Coder Alarm on RJ controller.

Robot software version is V3.0613. Could it be very old for making a Pulse Coder Reset with RES_PCA section ?

Best Regards

Thank you in advance

[Vlad]

RES_PCA is a link to the variable $MCR.$SPC_RESET.

The RJ controllen didn't have that link.....

Bye,
Vlad