CRS F3, User Manual

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99-05-31
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chapter 7 .......................................... 63
Commissioning the Robot .................................................. 63
Verifying Installation ......................................................... 64
Checking Arm and Controller Installation .................... 64
Powering Up the Controller ............................................... 65
Starting the Application Shell on the C500C Controller ...... 66
Checking All E-Stops ........................................................ 67
Scheduling Regular Checking of E-Stops ...................... 67
Moving Out of the Shipping Position .................................. 68
Checking the Live-man Switch .......................................... 69
chapter 8 .......................................... 71
Operating Basics ................................................................. 71
Units ................................................................................ 72
Coordinate Systems and Reference Frames ........................ 73
Motion Modes ................................................................... 74
F3 Joint Command ...................................................... 74
F3 Motor Control ......................................................... 74
Cartesian Motion Commands in the Tool Frame ........... 74
System Operation ............................................................. 76
Brake Release ............................................................. 76
Point of Control ........................................................... 76
Delay after Turning on Arm Power ............................... 77
Abnormal Process Termination .................................... 77
Chapter 9 .......................................... 79
Troubleshooting ................................................................. 79
Arm Power Failure ............................................................ 80
Amplifier Communications Failure .................................... 81
F3 Calibration & Re-Homing ............................................. 82
F3 Calibration ............................................................. 82
Restoration of Calibration File ..................................... 82
F3 Re-Homing ............................................................. 82
chapter 10 ......................................... 85
Preventive Maintenance ..................................................... 85
Regular Inspection ............................................................ 86
Weekly Inspection ....................................................... 86
Monthly Inspection ...................................................... 86
After Collision ............................................................. 87
Lubricating the Chain ....................................................... 88
Re-lubricating Joint 2 .................................................. 88
Re-lubricating Joint 3 .................................................. 89
Re-Lubricating Joint 5 ................................................. 89
Replace and Update ..................................................... 90
Battery Maintenance ......................................................... 91
Background ................................................................ 91
Shutting Down the System for Less Than 6 Weeks ....... 91
Extended Shutdown .................................................... 92
Six Month Battery Check ............................................. 92
Battery Replacement ................................................... 92
Log Update .................................................................. 93
Chain Replacement ........................................................... 94
Harmonic Drive Lubrication .............................................. 95