Removing Group 3 from RJ3iC Controller

    I am in the process of re-purposing a robot that has 2 external axes, Group 2 and Group 3. I wish to remove Group 3. I have disconnected the motor, re-configured the paramters in maintenance mode and removed group 3 so it does not exist. I now have a SRVO-021 - SRDY OFF (Group 2: Axis 1) alarm when I attempt to servo on. Jumpered out the door switch. I am assuming I am missing some paramter setting or a jumper. This system has 2 local stop modules, and I have removed the one for group 3. I see the contactor pull in for just a second before the alarm occurs.

    I have seen similar subjects in the forum for adding an external axis, but I have not seen one that answers this particular problem with removing a group.

    Please help.
    :help:

    You may have an issue with the configuration. There are several ways these groups could have been wired. If you have an image backup from before you removed the third motion group you can restore it and then go to the $ SCR_GRP 3 and under the axis order enter 0 for the first axis, if there was only one axis on group three. You will need to cycle power, reset the pulse coders and cycle power again. At this point the software will not "see" group 3 anymore. You would have to have all of the hardware back in the controller. And then deal with your local stop for group three, probably just jumper it out. The brake cable should not be causing any issue relating to this alarm.

    Quote from Racermike123


    You may have an issue with the configuration. There are several ways these groups could have been wired. If you have an image backup from before you removed the third motion group you can restore it and then go to the $ SCR_GRP 3 and under the axis order enter 0 for the first axis, if there was only one axis on group three. You will need to cycle power, reset the pulse coders and cycle power again. At this point the software will not "see" group 3 anymore. You would have to have all of the hardware back in the controller. And then deal with your local stop for group three, probably just jumper it out. The brake cable should not be causing any issue relating to this alarm.

    Performed an INIT START on the system with the original software. Have Group 1 and Group 2. Do not see group 3. I am still having SRVO-021 alarm Group 2: Axis 1. I will attempt your suggestion, but the goal is to have the hardware removed from the system.

    Quote from bgarrison

    This is what I ended up with as the solution. Was hoping to save the motor and local stop as spare parts.


    What you are doing is easy but you can use only one amplifier in a dual channel by setting variables.
    I did it years ago but forgot the exact settings.
    I thought they were $SCR.$ATR and $SCR.$ATTRIB. You may try Racermike123's procedure first.
    Then you can disable the Local Stop by setting $LS_IOPORT [x]$MO_GRP_NUM to zero. May be you do not even need to do it because you do not have group 3 any more.

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