IO list for MIO04 and pin out for MRC Safety Board

[bently]

I need to know the addresses of the IO on my MIO04 and the pin out of the MMI safety board.  I have an external hold signal and I can't trace it back past the MIO04 where a 0 or 24v signal fails to activate a relay to the EXHOLD line on the MRY relay board. The other line to the relay comes from the MMI safety board, and switches to zero or 24 together with the MIO04 output, so the relay is only active for a split second while the second and later signal switches.   Any help would be appreciated very much.

[Robodoc]

Bently,

I have never heard of a MMI board in an MRC.  Are you in Europe? or did your robot come from Europe?  Motoman MRC robots that went to Europe were fitted with a safety board (sorry don't remember the name right now) for safety.  This board was Motomans first attempt at dual channel.  The deadman on the pendant, the estop on the pendant, the estop on the playback box and the external estop all get wired into this board and from the board all the single channel wires go to the MRY.  The quickest way to find out if you have this board I thinking of is to look at the MRY.  Is the connector one 25 pin card edge screw terminal connector or are there three small (most times orange) connectors?

If your robot is set up for handling, on input on the MIO04 card has to be high for the "tool shock sensor".  This is different than the normal shock sensor on the MTU card.  Please check address 2036 in the CIO.  2036 goes to Slot 1 CN1 pin B6.  Put zero volts to it to see if it goes high and turns off the hold.

Another thing you can check is the external hold bit 4067.  Have a look at the CIO and see what is making 4067 go high.

[jax.]

Please find attached MEU01 (European safet card) manual if it helps.   

[bently]

Thanks for the advice.  I don't have the European unit although what I do have doesn't show anywhere in my docs.  MMI came up in a web search of the part number, also pendant enable board, it is printed with safety board.  It actually seems to work properly, so I'll ignore it for now.  CIO shows no address 2036 and tying S1CN1-B6 low doesn't work.  4067 is 7080 or 7280 or 2017.  Thanks for your help.

[Robodoc]

2036 is the address for an external input.

Press Disp.,  Diag. (F5), More, I/O Mon (F1), Ext In (F2) you can see the status.

4067 is the bit for external hold.

Press Disp.,  Diag. (F5), More, I/O Mon (F1), SP IN (F5) you can see the status of this bit

[bently]

Right sorry about that.  2036 changes from 0 to 1 when tied low.  4067, doesn't change, even with EXTHOLD jumpered on the MRY.

[oldrobot]

jf .. thanks for the MEU01 manual .. do you have the Drawing No. 341902?

[tony gast]

I would do as Robodoc said and look thru the CIO.....Back track from EX-HOLD (OUT #4067)and find what the trigger is.....