adept technology Cobra s600, User Manual

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Emergency Stop Circuit Shuts Off Both Robots
Adept Cobra s600/s800 Robot User’s Guide, Rev H 145
11.9 Emergency Stop Circuit Shuts Off Both Robots
The Adept SmartController has an Emergency Stop circuit that is designed to safely stop
both robots simultaneously in the event of a problem. The Adept multi-robot system is
designed for multiple robots operating in the same workcell. Therefore, if one robot has a
fault, the other robot will also be stopped. A brief message will be displayed, indicating
the problem. The message will also state which joint(s) and which robot is affected. The
most common system messages are described in the
V+ Operating System User’s Guide .
A full list of system messages with complete explanation and suggested user actions is in
the
V+ Language Reference Guide .
Examples of faults that can be detected by the Adept control system are *Hard envelope
error*, *Soft envelope error*, and *Motor stalled*. Any of these messages may mean that a
robot has collided with an unexpected object in the workspace, therefore, both robots will
be stopped.
The Emergency Stop signal stops both robots connected to the same controller. It is not
possible to use the E-Stop signal to stop only one robot. The Emergency Stop switches on
the Front Panel and the pendant shut off high power to both robots when the switch is
pressed.