RX90 limit switch

[zmedina]

Hi,

I have a RX90 robot connected to a CS7 controller.
The controller has a safety board 231 249 06.

The problem that I have is that I can't get the robot energized. I've look at the safety board and noticed that it only has LEDs D1 and D2 on.  D3 is for the limit switch that comes from J2-16 and J2-17. But i don't know where to look for it.

What should I do to get the Limit Switch LED on?

Thank you in advance.

[Jim C]

D3 is for the external e-stop on J8 pins 7 to pin 8. This where you connect any e-stop switches for robot cell. J8 is green "Phoenix" connector on the edge of the safety board. To check you can jumper pin 7 to 8 (careful this will bypass any e-stop switch) and the LED D3 ( and the rest of the LEDs) should come on.


The limit switches for a RX90 and on joint 1 (you have to remove the black panel on the base where the interconnect cable is and look up under the joint) and joint 2 (remove the bottom round cover on the inner link) of the arm, but they are after D3. There status is shown by D4 which will be out since D3 is out.

[zmedina]

Oh yes, you are right, D3 is for External ES.
That's the first thing i've checked and all the ES were OK, maybe their wiring is wrong.
I'll let you know.

Thanks.

[zmedina]

I've found the issue with the safety board, there was a problem with the E.Stop switch. Thanks Jim.

Now i need to know thw pin out for the Pendant Dummy plug, do you have any infotmation?

Thank you,     

[Jim C]

On the CS7 and CS7m controllers the pendant jumper plug bypasses the e-stop and deadman. You need to jumper 6 to7 to bypass the e-stop and 14 to 16 to bypass the deadman.

The CS7B, CS7MB and CS8 family have a different pendant plug and different pinouts.

[zmedina]

Excellent Jim...
Thanks a lot

[zmedina]

Hi again,

Does the limit switch that we were talking before are adjustable? What i mean is if, they can be moved to give the axis more movement?
The reason that i ask you this is because we have running already one RX90 with CS7 controller, but know we are setting up another one but this one is giving "Axis 2 out of range" on areas where the other can easily move.

Or what should i verify?

Thank you in advance

[Jim C]

The message is from the software limits. You can adjust the software limits, limit switches, and even hard stops on a RX90.

The limit switches on a RX90 are adjustable. There are multiple locations for the screws that actuates the switch. You can simply move it to another hole. The holes are a few degrees apart. For joint 2 remove the round cover on the bottom of the inner link, The switch will be at the bottom and the screws that activate it are on the metal plate that protects the harness.

You also need adjust the software limits. The software limits are why you are getting the message. Use the SPEC utility program. If I remember correctly you don't enter a password. I can't recall the exact location of the software limits on the menu, but they are in there somewhere. Look around and you should find them. Each axis is one a separate page. Make your changes, save it to the system disk, should be "C", and reboot.

keep in mind there should be 2.5 degrees or more between the hard stop and the limit switch and another 2.5 degrees or more between the limit switch and the software limit.

Hard stops are more difficult. There openings in the castings to give you access to bolts that the stops hit. Getting access to the openings and figuring out the joint positions to make the bolts line up with the openings is tricky.

[afelix]

hello
 I have a similar problem with a RX90 and a CS7 controller, but indicates axis 5 out of range, when the axis 5 is a halfway, this only happens when moving in  tool mode but it  can moves in joint mode.

Also I tried to change the limits on SPEC utility program but it said that it was at the maximum rate.


I would appreciate your help
 thanks

[Jim C]

In TOOL mode you are probably seeing a singularity. The error message is misleading. It is not an issue with software joint limits.

On CS7 and earlier systems when the robot was doing a straight line motion and joint 5 tried to pass through 0 degrees, joints 4 and 6 cause the same rotation. The algorithm used in the kinematics wants them to move by 180 degrees in opposite directions.

On the older PUMA robots, it would actually try to  do just that. Joints 4 and 6 would go from speed 0 to infinite in a fraction of a second. The arm would of course fault out.

With the RX and CS7, the software would predict the singularity and simply refuse to do the motion. The error message is joint 5 out for range.

With the current CS8 family of controllers the algorithm is much different. It can move through the singularity, but it is slower then normal.

You do not get singularity issues when doing a joint interpolated motion.

[afelix]

thanks jim