Intelitek SCORBOT-ER 9, User Manual

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Note: When disconnecting the robot from the controller, do it in the reverse order; that
is:
• Disconnect the 19-pin round Robot Power connector.
• Disconnect the 37-pin Encoders connector.
• Disconnect the ground wires.
Homing the Robot
After you have completed the robot installation, execute the robot’s Home
routine, as described below.
)
The robot must be homed before you mount the gripper.
)
Before you begin the homing procedure, make sure the robot has ample space in
which to move freely and extend its arm.
1. Turn on the controller. Turn on the computer.
2. From the ATS diskette or directory, activate the ATS software. Type:
ats <Enter>
If the controller is connected to computer port COM2, type:
ats /c2
3. When the ATS screen and > prompt appear, you may proceed.
4. Give the ACL command to home the robot. Type:
home <Enter>
The monitor will display:
WAIT!! HOMING...
During the Home procedure, the robot joints move and search for their home
positions in the following sequence: shoulder, elbow, pitch, roll, base.
If home is found, a message is displayed:
HOMING COMPLETE (ROBOT)
If the HOME process is not completed, an error message identifying the failure is
displayed. For example:
*** HOME FAILURE AXIS 3
If the home switch is found, but not the encoder’s index pulse, the following
message is displayed:
* * * INDEX PULSE NOT FOUND AXIS 2
SCORBOT-ER IX 4 - 4 User’s Manual
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