Resolving Emergency Stop That Cannot Be Released Due to an Enabled Handle Function Without a Connected Handle

When the teach pendant interface shows an emergency stop state, after ruling out the teach pendant emergency stop button, the control cabinet emergency stop button, the control cabinet emergency stop IO, and the software-configured emergency stop IO, it may be caused by enabling the handle function.

For example, the improved control cabinet does not enable the handle by default. After enabling the handle, if no handle is connected, the interface will show a triggered emergency stop that cannot be recovered. The handle function can be disabled using the following method.

Confirm the Emergency Stop Trigger Source

• Search the aubo_control log for rob1 - robot emergency stop trigger is X .

• Convert X into a 4-bit binary number. From left to right, each bit represents the following trigger source:

  First bit	Second bit	Third bit	Fourth bit
  Fixed IO	Handle emergency stop	Teach pendant emergency stop	Control cabinet emergency stop

  For example: if X is 4, converting it into a 4-bit binary number gives 0100, indicating the handle emergency stop is triggered; if X is 6, converting it into a 4-bit binary number gives 0110, indicating both the handle emergency stop and the teach pendant emergency stop are triggered.

Method to Release the Improved Control Cabinet Handle Emergency Stop Trigger

• Modify intergated = true in /opt/arcs/{ARCS_VERSION}/aubo_description/config/cb_i.conf, then restart the control cabinet.

  

• Enter Configuration - Handle Settings.

  

• Select Use without the control handle, then click Apply, and the emergency stop is released.

  

• Modify intergated = false in /opt/arcs/{ARCS_VERSION}/aubo_description/config/cb_i.conf, restore the configuration, and restart the control cabinet.