Staubli CS8C, Instruction Manual

Page: 222 / 248

© Stäubli 2009 –
D28070504A
CS8C 222 / 248
8.8.4.15.
CASE
15
This
E-Stop
is coming from the cell and is connected to
RSI J109
.
•
Check wiring from this
E-Stop
to
J109 1-20
and
2-21
.
Note:
Status of manual brake release switch can be obtained from
MCP
Control Panel:
Figure
8.59
Problem:
(A)
User emergency stop
A1
activated: Contact
UESA1 , J109, 1-
20
(a)
User emergency stop
A2
activated: Contact
UESA2 , J109, 2-
21
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
...
22 UESA1=
23 UESA2=
E-Stop
activated
ON
ON
E-Stop
released
OFF
OFF