Staubli CS8C, Instruction Manual

Page: 223 / 248

CS8C © Stäubli 2009 –
D28070504A
223 / 248
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