when are the servo drives engaged?

    I'm looking for a $OUT[xx] that indicates when the servo drives are on or off. I found $OUT[1011], it is labeled as SYS, and appears to go on/off when engaging the drives on/off using the SmartPad. The same is true for $OUT[1015]. I need this because I need to turn an indicator light on/off on my HMI screen when the drives are on/off.

    Are either of these outputs an appropriate one to use?

    Which $OUT[xx] is used to pull the contactors in?

    Building robotic welding systems.

    Look into STEU>MADA>Machine.dat and you should look for an output saying $DRIVES_ON and see which output number is assigned to this system tag. It will give you exactly when the drives are engaged.

    Also, you can look for $DRIVES_OFF which will be ON when the motors are not engaged.

    Thanks

    Edited once, last by RS (May 13, 2016 at 2:46 PM).

    those would be inputs to power on/off drives from another controller.

    to see which output is used to indicate that robot drives are on, check R1\STEU\MADA\$Machine.dat

    there should be line like
    SIGNAL $PERI_RDY $OUT[999]

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    Looking in $machine.dat, I see 4 outputs that seem relevant:

    $STOPMESS $OUT[1010] <-- goes OFF when drives are engaged using the SmartPad
    $USER_SAF $OUT[1011] <-- goes ON/OFF when drives are engaged/disengaged using the SmartPad
    $PERI_RDY $OUT[1012] <-- not changing as I engage / disengage the drives using the SmartPad
    $SPOC_MOTION_ENABLE $OUT[1015] <--goes ON/OFF when drives are engaged/disengaged using the SmartPad

    $STOPMESS appears to go ON after an error occurs that stops the robot
    The other 3 are not in my copy of the System Variable pdf.

    From the names, it seems like [1015] is the one to use, but I'm not sure. Would this output ever incorrectly represent the status of the drives?

    Building robotic welding systems.

    read system integrator or system variables manual (not just the latest one, also check KRC2 documentation !)
    section on AutoExternal in SI should cover it all...

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