Robatics1278
Member
Hello, all, I am new here and pretty new to PLC'S. Closest thing I have to PLC experience is with avionics. At my new job I am a welding engineer primarily in control of four Motoman MIG welding robots.
Anyway, the company bought a used Motoman NX100 and it arrived about a month ago. There has been a ton of wiring issues I've spent the last few weeks correcting. This last one is stumping me.
So the robot didn't come with light curtains so I ordered a set off eBay. They are 1000mm SICK 4000's. I hooked them up and get a flashing error on the curtain saying L2. Okay, L2 is an error code for invalid configuration of EDM. I look in the SICK manual and it says:
If you connect the contact elements to be monitored to the EDM input, then you must activate the option EDM in the CDS (Configuration & Diagnostic Software. If not, the device will show the error L2.
If you later deselect the EDM option, pin 6 of the system plug must not remain connected to 24 V.
I believe our light curtains do not have the EDM enabled and that is why I was getting error L2. Wire 6 on the light curtain was hooked to the Safety relay Y2. I removed wire 6 from the relay and the curtains started working.
Now the problem is that when we try to flip the positioner we get an external e stop error. It sounds stupid but if we shake the relay it goes away and lets us flip. Doing some reading here I see that Y1 / Y2 are for a reset button. I am thinking that the Motoman control or light curtains are looking for a handshake that each other is working?? Odd thing is I can look at the Input for light curtain clear while this e stop error is active and it is saying they are clear.
Also while this e stop error is active both channel lights are on, on the relay.
I tried to put a jumper in between Y1 & Y2 but no luck.
Am I right in thinking I need to fool the relay or control into thinking the EDM is working or what?
Some help would be really appreciated.
Attached are some diagrams.
Thank You
Anyway, the company bought a used Motoman NX100 and it arrived about a month ago. There has been a ton of wiring issues I've spent the last few weeks correcting. This last one is stumping me.
So the robot didn't come with light curtains so I ordered a set off eBay. They are 1000mm SICK 4000's. I hooked them up and get a flashing error on the curtain saying L2. Okay, L2 is an error code for invalid configuration of EDM. I look in the SICK manual and it says:
If you connect the contact elements to be monitored to the EDM input, then you must activate the option EDM in the CDS (Configuration & Diagnostic Software. If not, the device will show the error L2.
If you later deselect the EDM option, pin 6 of the system plug must not remain connected to 24 V.
I believe our light curtains do not have the EDM enabled and that is why I was getting error L2. Wire 6 on the light curtain was hooked to the Safety relay Y2. I removed wire 6 from the relay and the curtains started working.
Now the problem is that when we try to flip the positioner we get an external e stop error. It sounds stupid but if we shake the relay it goes away and lets us flip. Doing some reading here I see that Y1 / Y2 are for a reset button. I am thinking that the Motoman control or light curtains are looking for a handshake that each other is working?? Odd thing is I can look at the Input for light curtain clear while this e stop error is active and it is saying they are clear.
Also while this e stop error is active both channel lights are on, on the relay.
I tried to put a jumper in between Y1 & Y2 but no luck.
Am I right in thinking I need to fool the relay or control into thinking the EDM is working or what?
Some help would be really appreciated.
Attached are some diagrams.
Thank You