This was info was requested by cnc_freak, thought I would share my very old with the community in case someone else dared to resurrect an S2.
This unit is used in S2 robots and was added near the end of S2 production. It’s used as a safety device to correct a problem that may occur with uncommanded movement due to certain resolver faults. The problem is when a resolver fails or a resolver wire breaks, the robot may move out of position and run into something.
This unit is inserted into the E-Stop Chain. It compares the axis resolver signals with the axis Tach signal on each of the three major axis. If the unit gets a Tach signal without getting a change in resolver signal, it breaks the E-Stop Chain.
The E-Stop is routed through a N.O. relay contact on the unit. The unit has a reset button to clear unit faults.
Jumper Settings: S1 = Supervise Axis 1 ( Normally Jumpered ).
S2 = Supervise Axis 2 ( Normally Jumpered ).
S3 = Supervise Axis 3 ( Normally Jumpered ).
S4 = Do Not Jumper!
S5 = Jumper!
