Hello Everyone,
I hope that you are staying safe.
I'm helping a friend getting a Motoman UP20 and XRC 2001 back to service in a welding application, I got few questions which I appreciate if someone can advice or point me to right direction.
Some history: These are two separate used units which we are putting together, when I connect the manipulator to the controller got few errors mostly related to backup batteries and emergency circuits.
Managed to find my way using the manual to disable some of the external emergency circuits for now just to test the system. At the moment when I start the controller, I get only two errors both related to backup battery, which is an achievement so far!
I select Reset to clear the errors, then all seems normal but I'm unable to switch the servo ON.
When I enter the robot page and get to the messages, I have couple of messages:
- "Master sealing OFF". (Not sure what this means!)
and
-"Robot is stopped by P.P. emergency stop". reading other threads here, I believe this is referring to the Programming Pedant emergency stop. I have tested the switch, it is working, but the message does not change when I press or release, I traced the wires to a safety relay (Omron G9SA) installed on the inside of the door with other relays which are not engaging, this is not surprising as some of them are connected to external wires which are not connected. Related to that, I have just seen this switch is connected to CN43 so I will check this tomorrow, meanwhile if you have any thoughts please let me know.
Is the wiring of the safety relay (Omron G9SA photo attached) available anywhere in the manual or this is application specific ?
The other question I have whether any sort of initialization is required at this stage or simply complete the connections then manage to turn Servo ON and follow the Home Position Calibration procedure?
Please excuse me if I'm missing the basics here as I'm new to all this.
Attached are a photos of the screen and the safety relay with the wires of the Programming Pedant emergency stop wires marked.
Thanks!