Ext Emergency stop - aut. ackn.

[Probo.dk]

Hi all.

When external emg. pressed - robot stop - naturally...
since ext. emg. is ackn. "elsewhere" - I dont ackn. on robot - and are not able to make "normal" kind of emg. pgm. calls...

shall I use .sps to monitor $out[1023] (or whatever it's called) and afterwards:

repeat
disable "whatever"
wait for 3.400 hours
enable "whatever"
until $out[bla bla bla]==false


since 2 external servodrives are controlled by robot - I have to disable and afterwords enable (flip/flop) when emg. pressed... otherwise drives won't go...

[SkyeFire]

The standard remote Fault Acknowledge signal ($CONF_MESS, usually set up through CONFIGURE>I/O>AUTOMATIC EXTERNAL) should clear the E-Stop error remotely.  Pulse that and wait for the $STOPMESS signal to go False before sending over remote Motors-On followed by Remote Start.

However, I find it disturbing that you have to Enable/Disable your external servos every time there's an E-Stop.  That shouldn't happen if the system is configured correctly.

[Probo.dk]

It's actually more than disturbing!!!

reason: robot control the two servos - servodrives are mounted in customer's controller cabinet - and wired to their Pilz Pnoz Multi safety plc.

When E.S. 230V is removed - 24V remains - like all the other FRQ Converters etc.

The main problem is:
If operater hits E.S. while moving the robot - no problem - easy to disable/enable servos afterwords...
(for now - just with a simple command in sps)

BUT... if E.S. while moving the servos - the servo's naturally stop - due to lack og power :)
When "rebooted" - servos must be disabled (since they were enabled @ E.S.) and then enabled.
IF the servo were running while E.S. pressed - I have to pulse the start signal to them again (since the previous pulse is "gone" - and "forgotten" in the E.S.)

All of this is turning into a nightmare - i'll never do a project again - when the customer uses external project management and external constrution...

IF only I had succeded in convincing them to let me deliver the robot with 2 extra drives... imagine all the problems i had been without :)

Today i rebuilt and reprogrammed the Pilz unit - what was done was illegal and life damaging if just a few conditions were fulfilled...

While doing that - I also spend the few minutes to redraw a cable to X11 - and are now using external enabling like i always wanted to do...
since alone on site today - you know :)

now I need to figure out a "automatic" start after "E.S. Reset" - and no... unfortatenely External Auto is not an option...

[SkyeFire]

Yowch.  Yeah, I'd say that whomever set up those external servos didn't know what they were doing.  Two external KUKA axes would have worked much better.

But given what you've got, I'd say that using the SPS may be your best option.  Use something to monitor the E-Stop state, and watch for the transition of the E-Stop state from Active to Inactive.  Then use that transition to trigger an automated Disable/Enable of the external servos, followed by a fresh start pulse.

As far as automatically confirming the stop message, well, the only thing I've ever seen along those lines was in section 4.5 of the Expert Programming manual (search the PDF for MBX_REC).  Use this VERY CAREFULLY, though!  Those safety messages force user confirmation for a reason, so people don't get careless.

[Probo.dk]

currently i'm monitoring "aaaerh - forgot the name" - what ever... it's false while running - true while E.S.

if true - flag is true

if flag is true
wait for "forgotten name" is false (when reset)
timer delay before disabling and enabling
timer delay again - before pulsning the start bit's

I actually thought about MBX_REC today - but desided to have lunch @ 20.30 instead of searching info :)

I'll look into it tomorrow - and drop a note if i'm lucky :)

Otherwise - the end customer must press 2 buttons when fence / E.S. is "drawn"