External Hold ???

[Mrsymloc]

Attention Roboperson:

Using all of your advice I have been able to Move, Zero and begin programming my UX150 and AD controller
Now I have a problem with execution
Using the Kawasaki AS language manual I have entered a short program (4) steps using the teach pendant and the HERE command
But when I go to execute nothing happens Sometimes I get the message "robot is moving now" but it doesn't I notice that there is an External hold message.  the text refers to a jumper block to defeat the EXHOLD on the Z9A board  (J5) and to short pins 5-6 but the lowest numbered jumper block is J6

Any thoughts

[roboperson]

External Hold is a dedicated signal coming from the PLC. When the signal is given, the robot knows it can move, if not, then it is in hold, given motor power ready to move, but not cycle start. It is the same condition as the hold run switch on the controller, except the PLC gives the signal and not a person toggling the switch. With a Ford specification, you can have the hold switch on the controller in hold, or on the interface on the front of the controller, there is a hold / run switch. You may have to toggle to hold reset and run. Each application has a specific S-logic that pertains to it. If S-logic is running, you can go to  function 180 and do an s-logic monitor to look to see what is missing in the string of code keeping external hold.  If i am not correct, i hope someone corrects me on this, but I thought by putting in the J44 jumper, and putting all your dedicated signals to disabled, you should have by passed all the safety circuit and been able to go into both teach and repeat. If all switches are in run and not in hold and you have this situation I am not sure, im sorry. You are definitely fighing an IO issue based from this specification. With out wiring diagram of the interface, im am not sure where you could go but to Ford,or  a supplier if they would help you? or Kawasaki. With the interface being something between Ford and Kawasaki, im not sure how much help they could be either from a legal stand point? Again, this may be something you need to ask them? Im sorry if I have not helped much.  Best of luck.

[MIYAM]

i have the same problem I tried to look for the function 180 but i didn't found it, i don't have any PLC so i don't know what to do do yo have another idea?  I'm trying to reset all the parametres in order to clear this h old do yo think this is going to help?

[iliveinhell2004]

You need a jumper and the proper SLOGIC...