3.3.4.10. dMIB modification for setup joints switch ECM pre 2015

Note

The SUJ switch for the ECM is physically connected to the ECM Classic controller. If your ECM controller was manufactured before 2015, SUJ switch will not work unless you modify the dMIB

The setup joint switch/button on the ECM is not using the same digital input as the setup joint switch on the PSMs. This was unfortunately discovered after the dMIB were designed (pre-2015 revisions). In other words, you might have to modify the dMIB to short a couple pins. You will need someone in house who can do some soldering.

Using the sawRobotIO1394 Console you should be able to monitor the switch events, i.e. press and release the different buttons on the ECM arm for a bit and monitor the changes in the “Buttons” widget/window.

ECM manipulator switch

ECM SUJ switch

ECM IO widgets