Good luck !
do you fixed the issue ?
E3120 : External axis “all” movement is inhibited.
Look like the External axis moving inhibition input is on.
you are not log in ?
"ClrWork cube" monitors if the TCP of the robot is within the specified monitoring area.
Then from here, robot can move "Home" and not hit anything.
Any change to the ClrWork cube, may cause safety issue.
In this case, "Home cube" is a very small cube, "Home" position +/- 5mm ?
Auto mode --- Hold --- Teach mode --- correction… --- move back to stop point (or move to any point) --- Auto mode --- restart
If the running program not be closed, you should can restart at any point.
• To change the position value,move the cursor to the position number and press F5, POSITION. The position screen will be displayed showing the Cartesian coordinates or joint angles of the selected position.
• To change the format of the position from Cartesian coordinates to joint angles or from joint angles to Cartesian coordinates, press F5, [REPRE]and select the coordinate system. The position is converted automatically.
How about [POSN] key and select JNT ?
It should display degrees.
set the cutter as Remote TCP (RTCP)
and the manual you are looking ( S4C? )
Spot Servo Equalizing (SoftWare Equalizing) ?
Please check attached manuals
P.143 - Controller software
P.41 - Spot options
not sure what you want to do with the welding wire sensors.....need more detail
try to make the command simple,
is this one work for you ?
WAIT_IP I1#(001) = ON T= 00
so, you can try
reconnect or replace TP cable
reconnect or replace TP
check or reconnect TP EStop wires
replace TP EStop
replace safety card
It is too late but still an answer
if you want to offset weld#1 only
MOVEP P53 50.00m/min
REM weld # 01
MOVEL P54 50.00m/min
ARC-SET AMP=180 VOLT=23.0 S=0.60
ARC-ON MIG ArcStart1 RETRY=1
MOVEL P55 50.00m/min
CRATER AMP=70 VOLT=19.4 T=0.00
ARC-OFF MIG ArcEnd1 RELEASE=1
MOVEP P56 50.00m/min
A4010 xxxxxx ------- what error message you have ?