1. Have you disconnected the arm island when you are doing these tests?
2. Can you show me a video of what you're doing when using the IO screen to turn on the signals in teach and repeat modes?
3. Is it possible CN2 and CN4 harnesses are wrong way round - does the input terminals bell through to CN4 connector and output terminals bell through to CN2?
1. At the beginning of the tests no, I had the actuation relays connected...only when I saw that nothing was happening did I take them out.
2. Tomorrow, I will make a video with the procedure of forcing the outputs, but I can also explain in words how I proceeded ...I set the robot in learning mode, I pressed the trigger key (deadman), I selected one output with arrows, I held down the A key +1 and the output status has not changed.
3. I also checked this, the wires in the series of clamps corresponding to the inputs reach CN4, and those corresponding to the outputs reach CN2. I checked the whole chain, from the electrical panel to the solenoid valve island, if I apply 24V on one of the outputs (with CN2 disconnected, obviously) the solenoid valve corresponding to that output is activated.
I checked wires with multimeter one by one, both inputs and outputs. They all end up correctly in the connectors. What I did not check and I will do tomorrow, I will check the signals directly on the connector on the 1HW board, to eliminate the suspicion that there may be an imperfect contact in the two connectors CN2, respectively CN4.
4. I would leave this point (4) for later, when I exhaust all the verification options ... it's risky but, if I see that I don't have any option anymore, I'll probably try it.
Thank you!
Regards.