Good Morning All,
I've been testing some programming on an M-6iA/R-J3iB, and this morning I wired an E-STOP button into the fence input connections of the robot. Now, mind you, I've only configured the bare minimum UOP to do just a few things for my testing purposes - IMPST, HOLD, FAULT_RESET, HOME, ENABLE, AT_PERCH. Everything worked as expected. The ESTOP does exactly what I want it to do and is able to be reset without any problems. Then, I tried to run a .TP program in AUTO, but every time I tried to do so, I would get a fence open alarm. So eventually, I removed the ESTOP button and put the jumpers back in. Same thing. I can run a .TP program in T1 with the pendant on, but not with it off and in AUTO. Oddly, to me anyway, I can run the MACRO that homes my robot from an external pushbutton in AUTO.
Why can't I run a regular .TP in AUTO any more? Any ideas?
As a side note/question... If I've assigned a homing MACRO to the UOP HOME input, how does one ABORT the current program so that the MACRO can run when I press the button after a fault has occurred? Say my FENCE OPEN alarm occurs during production (imagine that). Do I need to assign my stop or reset button to CSTOPI or some other UOP that will ABORT the current program?
Thanks in advance...