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Chapter 8 - Maintenance
8.8.4.16. CASE 16
This E-Stop is coming from the cell and is connected to RSI J109. It is Door contact when
robot is in COMP mode (automatic mode); it is UserEn contact when robot is in Manual
mode.
• Check wiring from these E-Stop to J109 3-22, 4-23, 9-28 and 10-29.
Note:
Status of UEN and DOOR can be obtained from MCP Control Panel:
Figure 8.60
Problem:
(b) User emergency stop UEN1/DOOR1 activated:
Contact USEREN1/DOOR1, J109, 3-22/9-28
(C) User emergency stop UEN2/DOOR2 activated:
Contact USEREN2/DOOR2, J109, 4-23/10-29
Solution:
DANGER:
If only one E-Stop contact is operating, the robot will be stopped but unsafely.
It is mandatory to repair the E-Stop line to get both contacts operating: No
error code on RSI and same status on both E-Stop lines on MCP Control
Panel.
?
- Controller status
- I/O
-SystemIO
- Inputs
...
0 UEN2-DOOR2=
1 UEN1-DOOR1=
Abnormal condition
ON
ON
Ready to operate
OFF
OFF
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