Hi. Yesterday i tryied to create a new program on my irb2400 (s4) and when i press start the 20074 error appears.
In English : Not allowed command. Not allowed in Guard Stop state.
But i can move the robot in manual mode!
Could anybody help me with yhis problem?
thanks!
programing problems Error 20074
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PaulSola -
July 18, 2017 at 11:36 AM -
Thread is marked as Resolved.
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It might be as simple as hitting the "OK" button. Otherwise, check the "Auto stop" wiring (gate plugs, etc. ). There are different circuits for E-stop, General stop, and Automatic (mode) stop. Can you "single-step the program (with the FWD key)?
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Adding to Iowan's answer, the Auto Stop (AS) connections for M93-M96 controllers are XT3-A3 to XT3-A4 (24V run-chain) and XT3-B3 to XT3-B4 (0V run-chain). Typically this is where the gate (door) switch circuit connects to keep the robot from running in 'Auto' while the gate is open.
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When I chose AutoMode and pressed Start the Auto Stop Error appeared. Is this what you told me?
And, please, tell me one more time what to do.
And i must say that when i programm my robot, i move (for example) from piont A to point B and I start the programm in the B point. Is it Ok or I should go to A point and start it there? -
Check the wiring on the connector Skooter mentioned (XT3/XS3). If there are no wires, you might be able to jumper them to test a program. Eventually, though, you will want to connect a perimeter guard circuit. Running a robot in automatic without perimeter guarding is just asking for trouble.
Starting position probably won't matter... as long as there is a clear path to the first point in the program. As a programming exercise, you can build a GoHome routine that moves home from... wherever.