Okay, so that idea didn't work. I definitely believe that the mastering process during the student lab has FUBAR'd the DCS and Scanner somehow. Here is the section from the student manual, and photos of the TP and bot while trying to run in AUTO.
Education Cert. Cart 2D iRvision camera calibration fail. MOTN-074 (G:1)
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Dan Compton -
August 31, 2023 at 4:56 PM -
Thread is Unresolved
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here is the section from the student manual
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Upon a little more investigating I noticed that even thought the cart never throws an alarm while sitting paused in AUTO, that in the motion logs, I am seeing a SRVO-004 Fence Open alarm in the log as well as a SRVO-300 Handbroken/HBK alarm. This confirms to me that something is up with the DCS and area scanner that was changed during the mastering apply to DCS. time to call the helpline again.
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The video is quite intersting. It says the light bar inidicates the zone status of the safety laser scanner. Maybe we should take a closer look on the scanner. What brand is the scanner and how is the scanner connected to the robot?
Could you give some details on the above questions? Are you able to connect to the laser scanner?
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Regarding the SRVO-300 alarm please check the Hand broken setup in the System/Config menu.
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Regarding the SRVO-300 alarm please check the Hand broken setup in the System/Config menu.
Handbroken > GROUP1 > is DISABL
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The scanner is a Keyence SZ-01S mounted inverted under the cart table. I am sure it has something to do with DCS and the scanner. Normally, you switch over to AUTO and the red light on the cart illuminates. Then you press the START button on the controller panel and nothing happens until you move about 5-6 feet away from the cart. Then the red light goes off and the robot proceeds to execute the program. Now, the red light just stays illuminated and the program says paused as previously shown. This all worked until we did the vision mastering lab yesterday.
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Alrighty, I traced the area scanner to its termination. Looks like the cable is split out. Some wires, including the OSSD1 and OSSD2 land on a Minotuar MSR127TP safety monitoring relay. The other wires seem to land on the "SHIELD" termination on the DIN rail. Now here's the funny part. I traced all this out, took pictures, buttoned up the controller, powered up and then went to run the program again to capture any codes, and the darn thing started working as I backed away 5 feet. It is just sitting there happily moving blocks around the board. The safety interrupt is working correctly, and the green light is illuminated until you breech the 5' safety zone at which time the red light turns on and the robot stops movement. I wish I knew what I did, but it "seems" to be working for now. I plan on switching up programs and seeing if those will run in AUTO as well.
I deeply appreciate everyone on this thread and your willingness to help out a frustrated teacher. Teaching on this cart is just so different than a real world cell.
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Checking the wiring of the scanner would would have been my next suggestion.
Great that the cart is now working again!
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I'm betting that safety relay was faulted somehow.
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I'm betting that safety relay was faulted somehow.
Often a classic one.
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