Technical Support Notes

Symtoms
Error 3312, "Emergency Stop input signal failure." occurs after clearing E-Stop.

To see the problem:

1.      From the EPSON RC+  Robot Control Panel, turn the robot's motors on.

2.      Press the emergency stop button that has been wired into the SRC520 drive unit emergency connector.

3.      With the emergency stop button pressed in, click on the Reset command button.  Answer to "Yes" to the dialog that will appear.

4.      Twist and release the emergency stop button.

5.      Click the Reset button in the Robot Control Panel.  Answer to "Yes" to the dialog that will appear.

6.      Click on the Motor On command button.  The 3312 E-Stop signal error will appear and require that the SPEL Drivers be restarted.  Note that closing EPSON RC+ does not shutdown the SPEL Drivers.  The SPEL Drivers can be shutdown by right clicking on the robot icon at the right bottom of the desk top in the system tray and selecting Shutdown.

Causes
Error 3312 can occur if the redundant dual input emergency stop circuit on the SRC520 drive unit is wired incorrectly.  The dual circuit is designed to detect an error if one of the E-Stop circuits fails.   If you jumper one of the circuits, the error will occur, since both signal conditions will not match.  You must either use a double pole switch that energizes both circuits simultaneously, or wire both circuits to one switch.

Remedy
The emergency stop button should be wired as shown in Figure 1 or Figure 2.  Figure 3 shows the incorrect wiring.  The Figure 1 shows how to wire a double pole switch.  This is the recommended method, since it takes advantage of the redundant circuit.  Figure 2 shows how to wire a single pole switch.

Note that only pins 1, 9, 11 and 19 are shown.  All other pins must be wired as indicated in the EPSON RC+ User's Guide.

Figure 1: Double Pole E-Stop (Recommended)

Figure 2: Single Pole E-Stop

Figure 3: Incorrect E-Stop wiring method

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