If you take that robot from Toyota factory, it's mean this controller has a Toyota spec.
But you can't find TBEX1 or TBEX2 socket on that controller.
Because Toyota spec. is different.
I never used AT controller before, but it can be similar with AW.
You should check X-LINE socket.
This socket using for safety connections.
Also we are using jumper for this socket. (But controller spec is different. You should be carefull)
Please check attached picture for referance.
You can make that with a few way.
One of them is, using variable for program selection.
If it's little bit complicate for you, you can use station function.
You need only 2 digital inputs for this operation.
Firstly you should select number of station.
Constant Setting > Operation Constant > Number of Station > 10 > Complete
Then, you should select condition of starter.
Constant Setting > Operation Constant > Condition of Multi Station Starter
Maybe, you should tried to copy program with ext. memorty (usb).
After that, you should compile your program.
Service > ASCII File Edit > Select Program > Execute > Complete.
After that operation, you can see your program from directory.
Hello,
1-) You should check the ground resistor.
(The ground resistor must be less than 100 ohm.)
2-) You should check primary voltage unit.
3-) You should use the ferromagnetic core for encoder cable.
(Controller and manipulator side)
4-) You should check the encoder voltage from the IPM Drive Unit.
(If this voltage is lower than 5.2V, replace the IPM Drive Unit)
