S-430-iw, R-J3 controller. EES dose not work in TP mode until I get to the last motion instruction in the program.
Is this normal?
External Emergency Stop
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GeminiChris -
August 21, 2018 at 7:59 PM -
Thread is marked as Resolved.
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Good god NO!
The estop should have nothing to do with program execution.
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Robot Motion should stop if I loose EES1/EES11 and/or EES2/EES21?
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E-Stops are on their own electrical circuit and unless they are tied in to a safety PLC and/or the DCS system, have no software associated with them. Breaking the E-Stop circuit is supposed to cut power from driving the motors and cut power from holding the brakes open. If you break the E-Stop circuit, your robot should stop pretty immediately.
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It takes about 30 sec. for the robot to alarm out SRVO-037 IMSTP. EES's are running through a safety relay that turn on force guided relays, and
monitors them as well. When I get the estop, the relays are turning off, but as I said the robot continues to run for about 30 seconds.