Setting Up Remote Mode

Confirm the always-enabled safety inputs are healthy

The *IMSTP (UI[1]), *HOLD (UI[2]), and *SFSPD (UI[3]) inputs are on in the normal state and are always monitored. Before enabling remote start, confirm each of these is wired and reads on, since the robot cannot enter the remote state while *SFSPD is off. Route any wiring correction to a qualified technician.

Caution: The *SFSPD signal decelerates and stops by software only. It is not a substitute for the hardwired safety fence circuit, which must remain intact and independent.

Set the operating mode switch to AUTO

Remote start is available only in AUTO mode, which the controller reads as SI[8] on and SI[9] on. On the three-mode switch, select AUTO so the teach pendant no longer holds motion control. In T1 or T2 the peripheral start signals are ignored.

Open the System Config screen

Press MENU, choose 6 SYSTEM on the next page, press F1 TYPE, then select Config. The system configuration screen opens with the numbered list that holds the remote-mode settings.

Verify Enable UI signals is TRUE

On the System Config screen, item 7 Enable UI signals must be TRUE. When it is FALSE the controller ignores the peripheral (UI) inputs and no program can be started from the PLC. Set it to TRUE before continuing.

Set Remote/Local setup

On the same screen, item 43 Remote/Local setup chooses how the remote signal SI[2] is driven. Remote keeps SI[2] on at all times, Local keeps it off, and External I/O reflects an external signal onto SI[2]. Pick the method that matches how the line is meant to hand over control.

Caution: The OP panel key option is listed but not available on current controllers. Do not plan the cell around it.

Assign the external control signal if you chose External I/O

When item 43 is set to External I/O, item 44 External I/O(ON:Remote) names the signal that turns remote on. Choose one of DI, DO, RI, RO, UI, or UO and enter its index. With this method a PLC output or a panel keyswitch can toggle the cell between remote and local.

Set $RMT_MASTER to peripheral equipment

The remote master must be the peripheral device, which is $RMT_MASTER = 0. The variable also accepts 1 (CRT/KB), 2 (host computer), or 3 (no remote equipment), and any nonzero value blocks the UOP start. Confirm or change it on the system variable screen, working carefully because system variables take effect immediately.

Turn off the teach pendant enable switch

The remote state requires the teach pendant enable switch to be off. With the switch off, motion control passes away from the pendant so the peripheral interface can start programs. You can confirm the switch state through the TPENBL output, which is off when the enable switch is off.

Confirm the ENBL input is on

The ENBL input (UI[8]) places the robot in the ready state and must be on for a motion program to run. When ENBL goes off the system inhibits jogging and halts any running motion program. Have the PLC hold ENBL on whenever the cell is meant to be operable.

Understand the five remote conditions

The controller enters the remote state only when all of these hold at once: the pendant enable switch is off, SI[2] remote is on, *SFSPD is on, ENBL is on, and $RMT_MASTER is 0. The REMOTE output (SO[0]) is on when these conditions are satisfied. Treat SO[0:REMOTE] as your first at-a-glance confirmation.

Choose and confirm a start method

Program start from a peripheral uses RSR, PNS with PNSTROBE, STYLE, or PROD_START, and all of these are enabled only in the remote state. RSR queues and starts a service-request program, while PNS lets the PLC select a numbered program that SNO1 to SNO8 echo back for collation. Decide which the line uses and confirm the matching UOP signals are assigned.

Watch CMDENBL as the ready handshake

The CMDENBL output (UO[1]) tells the remote controller that a motion program can be started. It comes on when the remote conditions are satisfied, the servo is ready, and continuous (not single-step) mode is selected. Have the PLC gate its start pulse on CMDENBL so it never fires into a cell that is not armed.

Test a remote start at reduced speed

With guarding verified and the area clear, issue the start signal from the PLC or panel and confirm the selected program runs. Keep the override low for the first cycles so motion can be verified safely. A start signal acts on its falling edge and must stay on at least 100 msec.

Caution: Remote start can move the robot with no one at the pendant. Confirm all guarding and interlocks are functional and keep personnel clear before the first remote cycle.

Test a remote stop and cycle stop

Turn the *HOLD input off and confirm the robot decelerates to a stop and program execution halts. Use the CSTOPI input to end the running program, noting that its behavior depends on the CSTOPI for ABORT setting on the System Config screen. Verify both before releasing the cell to production.

Caution: If Break on hold is enabled on the general item screen, turning *HOLD off also raises an alarm and drops servo power. Confirm which behavior the cell expects.

Confirm you can hand control back to local

Switching Remote/Local setup to Local keeps SI[2] off, and turning the pendant enable switch on returns motion control to the pendant for troubleshooting. Either change temporarily halts any program that is running, so make the switch only with the cell in a safe state. Verify a technician can regain local control before you finish.

What can go wrong: CMDENBL will not come on

Work down the remote and ready conditions in order: SO[0:REMOTE] on, SO[7:TPENBL] off, SI[2:REMOTE] on, mode at AUTO (SI[8] and SI[9] on), UI[3:SFSPD] on, UI[8:ENBL] on, and $RMT_MASTER = 0. Then confirm no alarm is active (SO[3:FAULT] and UO[6:FAULT] off), servo power is on (SYSRDY on), and single-step is off (STEP LED off). One missing item keeps CMDENBL from arming.

What can go wrong: CMDENBL is on but the program will not start

Check that the start signals are actually reaching the controller by watching the UI screen while the PLC drives PNS, RSR, PROD_START, or START. If a UI entry shows as *UI the UOP is assigned to the PMC, so the PMC program has to be inspected. Also confirm the program-select conditions, for example a HOME position check that requires the robot to be at its reference position.

What can go wrong: a task-failed-to-run alarm at start

If starting from the peripheral raises a failed-to-run-task alarm, open the alarm history and read the detail code for the specific cause. It usually points back to a program-select or automatic-operation condition rather than the remote setup itself. Correct the named cause before retrying the start.