How to block all signals from external input panel

[rem]

Hi

I'm looking for some method to block all signals from external input panel. We have RX130 with CS7.
After "do ready" command we have from serial terminal connection "E-STOP from external front panel". (On MSP too)
How to make power enable ?

Thanks for any answer.

[TygerDawg]

Is it possible that you have an open ESTOP circuit and you need to install a jumper wire across the ESTOP circuit terminals?

[Jim C]

You have a limit switch open.

The RX130 had limit switches on joints 1, 2, and 3. I would start with joints 2 and 3. Remove the round covers on the inner link. The joint 2 limits switch will be at the bottom of the link. Make sure you check the wiring. Improperly secured wires often chafe through and short our. The joint 3 switch is a little harder to see. It is at the top of the inner link and you might have to remove the counter balance springs to get access. Be careful removing the springs. There is a of tension. If you have not done it before, look the manual over carefully and if you are not 100% certain I would suggest getting a service call. The Joint 1 limit switch is in the base of the arm. Remove the plate with the interconnect cable and brake release switch and carefully pull it out the look up inside the casting. You might have to unclamp the harness in the shoulder to get enough slack..

ON the CS7 systems we used the V+ language from Adept. Adept robots did not have limit switches so they did not have a specific error message. This message was the closest unused message we could find.

[rem]

I check limit switch 1,2,3. There are ok. It is posible to make some settings on MI6 jumpers to get bypass of ESTOP from front panel external input ?
And second question - I have CS7 from 1997 and 2001 (two robot cells). On CS7 from 1997 I have on axe 2 signal of red led on "Protection Enable". I means somthing about brake on joint 2 ? How to fix it .

[Jim C]

The limit switch contacts go to the safety board not the MI6. You should have continuity between J2 pins 16 and 17. If there is an open, you have a bad limit switch, pushed pin on the interconnect, or bad wiring. This is part of a safety circuit, I do not recommend simply bypassing it, find the issue and fix it.

The red LED on the amp indicates a fault. There are three or four red LEDs on the amplifier back plane for each amp. Look for the one labeled F1, F2, and F3. They will give you a fault code. You should also have gotten an error message on the terminal.

[rem]

I can't check pins 16,17. They are  empty in connector J2 (in conector J1 too). Pins 21,22,23 are missing too.
I try to execute SPEC program for change working box but :

     Restricted access mode (formerly CONFIG_R)
.
               0 => Exit to system monitor                     
               1 => Enter password to increase access         
               2 => Perform hardware diagnostics               
               3 => Edit robot specifications                 
               4 => Load robot specifications from a disk file
               5 => Save robot specifications to a disk file   
               6 => Save ALL specifications to system disk     
               7 => Edit SPEC program preferences             

                    Enter selection:



Deleting global variables used by the SPEC program...........................................................


Program completed
Program task 1 stopped at a.spec, step 23   31-Oct-2011 09:22:15


I don't have any chance to enter selection number. Program stopped.

[Jim C]

From the safety board J1 and J1B are for the local and remote front panels. They have nothing to do with the limit switch which is what is causing the error message. This is hard wired in the safety board there are no setting in the SPEC for the this.

Assuming you have a -06 or later safety board, look at LED D4 if it is off and D3 is on you have an open limit switch. If both are on you have an issue with safety board or possibly with the SIO.