Trying to get a AR system to run

[Napierian]

I typically work with Fanuc Robots, but we have acquired an AR series Nachi robot with no manuals (I have an AW manual, but it doesn't cover everything).  I have been able to clear the pulse coder alarms, and all of the safety issues, however every time I try to engage the servos I get the error code #E0111 External Mode Selected.  Anyone know specifically how to change the mode from external to internal?

Thank you

Jeff Kocher
Robotics Technologist
2Ri Robotics
www.2rirobotics.com
15 Cope Court
Guelph, ON N1K 0A4
Tel 519-829-2335 Ext 24
Fax 519-829-2346
24 Hour service 519-993-2335

[jdeyonker]

I'm not sure on the AR controller but with the newer AX you have to go into teach/playback condition and select the playback mode prog select theres two options controller and external this might be a place to start looking under any teach/playback condition menus wish I could be more help

[Napierian]

Thank you for the answer, however I do not seem to have anything in the service menu that deals with mode. 

If you could give me the specific menu within the service menu (or what mode I need to have the controller) that would be great.

Jeff

[Napierian]

Thank you.  Not sure what I actually did, but I eventually got the alarm to change to a E0112, and found someone had jumpered EMON.

The robot is up and working, but I think I still prefer Fanuc

Jeff Kocher
Robotics Technologist
2Ri Robotics
www.2rirobotics.com
15 Cope Court
Guelph, ON N1K 0A4
Tel 519-829-2335 Ext 24
Fax 519-829-2346
24 Hour service 519-993-2335