NX100 Explosion Proof Pendant / Remote Mode?

[smurrill73]

I have an NX100 system with an explosion proof pendant.  As such there is no rotary teach/play/remote switch on the pendant.  I'm trying to place the robot in remote mode, and pushing the Remote button on the controller is not working.  I can monitor the ladder program and see that I am in play mode, and when I press Remote I see the specific output #30015 come on as long as I have the button pressed.  When I release it, the output turns off and the robot is still not remote enabled.

I'm thinking I'll have to edit the ladder program to get this to work, but don't really know how to go about it.  My current thought is to modify the ladder so that:

  1) if the remote button is pressed while in teach, do nothing
  2) if the remote button is pressed while in play, latch the remote output (30015)
  3) if either the teach or play button is pressed while remote is latched, unlatch the remote output

Will this work?  And if not, any suggestions?

Thanks,
Scott

[Robodoc]

Not having a NX paint robot to go and look at I can guess that what you want is not possible.  Based on passed experience, Motoman Japan would have taken the three position switch out of the pendant to meet the explosion proof requirements.  They would have used the same signals as three push buttons on the controller as you describe.  In my opinion, they should have used a three position switch (like the one from the pendant) in the door.  This would meet all the requirements you are asking for.

The three mode signals (teach, play, remote) from the pendant are not accessible through CIO.  You get the result, but not if a push button is pressed.  You would need these signals to do what you are looking for.

I have two options you can do.
1) replace the push buttons with a three position switch just like the pendant.
2) add parallel wires to the push buttons and wire them to inputs.  You can then used these signals to make the CIO do what you are asking for.
CIO would look like this.  You would have to change the addresses for the inputs used.

STR #20012 (REMOTE PUSH BUTTON)
AND-NOT #50053 (TEACH MODE)
OR #30015 (IN REMOTE OUTPUT)
AND-NOT #20010 (TEACH PUSH BUTTON)
AND NOT #20011 (PLAY PUSH BUTTON)
OUT #30015

[smurrill73]

Thanks for the quick response.  I will be in front of the robot tomorrow, and will give this a try.  Will post the results.

Thanks again,
Scott

[smurrill73]

Found the problem, and as usual it was deceptively simple.  Motoman tech support informed me that the remote button on the controller should be a maintained switch.  I checked it, and it is momentary.  I had a helper hold the button down while I tried some of my external signals, and it worked just fine.

I temporarily wire nutted the normally open contacts to enable remote and I'm up and running, while I wait for the maintained switch to arrive.

Thanks for the help,
Scott