RX160 Does not power up after opening and closing safety door.

[BDSMITH]

I have an RX160 and a TS60 in a work cell both using CS8C controllers. This is a new application. An apps engineer with Staubli has looked at the app and says it looks ok. We are having an issue where the robot does not enable power after opening a safety door. We added a timer to give the robot more time to recover but this has not helped solved it. Has anyone ever had issues like this? The timer we added we gave a value of 10. Would this be 10 seconds or 10 milliseconds? We are new to Staubi and are not where we need to be yet on understanding them. Any hints or suggestions would be appreciated.

[TygerDawg]

Unlikely the problem is with the robot or controller (but it has been known to happen).  Who did your integration?  You should probably focus your attention on the safety circuit devices & wiring to make sure you aren't getting any transient false signals.  What happens if you isolate the robot from the cell and manually close the door circuit?

Then examine the program code to disable/re-enable power based on e-stop status to make sure the code works as intended.   Important commands to watch out for are esStatus(), workingMode(), isPowered(), enablePower(), a few others can be found in the VAL3 Language Reference.

[BDSMITH]

just to update this issue is related to my other post about the assertion failed fault. Seems this is firmware related to the controller.