CRS F3, User Manual

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76 F3 Robot Arm User Guide
99-05-31
System Operation
Brake Release
There are brakes in the three main joints of the F3 robot system to keep
these joints in position when arm power or controller power is off. They are
released automatically when arm power comes on.
When arm power is off, the brakes can be released manually by depressing
the brake-release buttons on the underside of the large motor cover on the
shoulder of the robot.
Drawing showing brake release buttons
Early F3 robots have four such buttons. One of them is the release-enable
button while the others correspond to joints 1, 2 and 3 respectively. To
release the brake of any joint, depress the enable button at the same time as
one of the others.
More recent F3 robots have only three brake release buttons. A given joint
can be released by depressing the corresponding button.
Warning! Do not try to press these buttons while arm power is on. Although
there is no electrical or functional consequence from such an action, it is not safe to
be in the workspace of the robot when arm power is on.
Warning! Support the arm as you release a brake. Gravity may accelerate the
descent of the wrist or outer link unexpectedly.
Point of Control
The robot server is a process which provides all robot services to other
processes running on the C500C controller. The robot server acts as the sole
interface to the control of the robot and, for the reason of safety, permits
only one process to have control of the robot at any time.
The teach pendant and the application shell (ash) are examples of processes
running on the controller which may obtain point of control (POC) of the
robot. On other words, a user may control the robot from the teach pendant
or a remote computer running a terminal.