CRS F3, User Manual

Page: 82 / 128

68 F3 Robot Arm User Guide
99-05-31
Moving Out of the Shipping Position
The arm is shipped in a position for unpacking and installation. Moving it
into a standard configuration will facilitate robot applications. This can be
accomplished from an application shell or using the teach pendant. (You
may not be ready to use the teach pendant if you have not received training
or read the Teach Pendant sections of the Application Development Guide.)
Warning! Move the arm carefully. The arm is capable of a wide range of motion
and can collide with itself, the workbench or other objects in the workspace. Damage
and/or failure may result from any collision.
Warning! Use the application shell (ash) with caution. When a command is
entered from
ash , the arm continues to move until that command is completed. If a
collision is going to occur, before the command is completed, hit an E-Stop.
Before you begin, ensure that:
•
the controller is powered on.
•
the operating system has booted up.
•
the application shell has been started.
•
the teach pendant or the over-ride plug is in the teach pendant
connector.
•
E-Stops
are reset.
•
arm power is on.
To move out of the shipping position:
In ash, enter:
ready
This command results in the robot moving into the position with all joints at
0
°
except for joint 3 which is at -90
°
.