You may need to set $DRIVES_OFF to $IN[1025] in the /R1/STEU/MADA/MACHINE.DAT file. Or just do it the easy way in the Auto External I/O setup menu. This is one of those odd "inverted logic" signals -- it doesn't shut the motors off, you need it True at all times in order to keep the motors on. It's sort of like Move Enable, but controls motor power.
$DRIVES_ON, OTOH, is just a momentary pulse to turn the motors on. $DRIVES_OFF needs to be true before you send $DRIVES_ON (for EXT mode) or push the motors-on button (AUT mode).
E-Stop wiring question
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neeboy74 -
April 9, 2014 at 8:03 PM -
Thread is Resolved
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OK...here we go. I'm posting a bunch of pics (across 2 separate posts) that illustrate what we have and will elaborate more on current conditions....as a reminder, my present goal is to run programs automatically w/o holding down deadman switches.
I did discover that according to the labeling on the outside, we have a VKRC-1 cabinet...no VW pendant though, that I'm sure of. I have posted some of the schematic dwgs that came inside our cabinet. I have temporarily jumpered the following pins on x-11: 1-2, 3-4, 5-6, 7-8, 19-20, 21-22, 23-24, and 25-26. This erases any and all "Operator Safety, Gate Open" etc errors, BUT....
When the controller reaches the end of the startup sequence and arrives at the main control screen, the second line says "EMERGENCY STOP." Coincidentally, at this juncture I cannot use the E-stop button on the pendant, it does absolutely nothing, even with Ack'ing or Ack All. (maybe this is most directly related to why I can't turn on the drives in Auto mode? Even switching back to T1/T2 does nothing, I have no pendand E-Stop functionality.
I posted pics of the AUTO/EXTERN monitoring screen, both inputs and outputs, that show the current values.
The internal label on the flange of the interior PC cage says this particular cabinet has (or "had?") "Remote I/O.
I also included a pic of our enclosure; no one will accidentally enter the robot's path while I'm working on/testing safety circuitry, that door is HEAVY and requires a good, concerted effort to open, even though it's on wheels
If I remove the temporary jumpering and re-install the earlier plug my friend made last summer, full operation is once again possible with deadman switches in T1 and T2, everything works fine, programs run, etc...This leads me to believe that there is some kind of jumpering issue, either on the X-11 plug or on the ESC board. Thanks for any continued help!
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EMERGENCY STOP message means that local E-stop is pressed.
So your teach pendant E-stop is permanently enabled.
There is no jumpers for that.I am not an expert on VKRC but...
You probably cannot run VKRC without VKCP (VW pendant)
This causes permanent e-stop message. -
Yeah...so I'm not completely sure of what's going on here at the moment. Like I said previously, my friend made a plug that I "thought" only ran in T1/T2 mode....so I re-installed that very same plug just now, switched to Auto mode...and the drives turn on, I run one step to establish BCO....and my programs RUN!! W/O deadman switches!!!!
I coulda swore that I tried his plug previously and got the "gate open" and "operator safety error" messages in Auto mode, so why it's working at this moment is something I don't personally have an exact answer for. At least I know I don't seem to have the dreaded "VW curse" of no Auto mode.
...for the moment though....it's time to PARRRRRTAY!!
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