106
eCobra 600 and 800 Robots with EtherCAT
24402-000 Rev B
l
The license mode of the robot needs to be changed.
l
EtherCAT communications cannot be achieved.
l
The robot has an unrecoverable hardware fault or error.
l
Factory recalibration.
6.6 Manually Jogging the Robot
Manually jogging the robot typically occurs during setup or other system configuration pro-
cedures. You can manually jog the robot with a connected pendant or with software.
Refer to the
T20 Pendant User's Manual (Cat. No. I601)
for complete instructions on using the
pendant to jog the robot.
If the optional pendant is not present in the system, you can move the robot using the Sysmac
Studio. Refer to the
Sysmac Studio Robot Integrated System Building Function with Robot Integrated
CPU Unit Operation Manual (Cat. No. W595)
for more information.
6.7 Enabling Robot High Power
When the robot high power is enabled, all robot servo motors are energized and the robot
enters a state where it is prepared for motion. The 200-240 VAC power source is used to facil-
itate this state.
DANGER: ELECTROCUTION HAZARD
When personnel are working with a robot where high power is enabled, make
sure they are properly skilled and instructed. Refer to the
Robot Safety Guide
(Cat. No. I590)
for more information.
IMPORTANT:
High power can only be enabled when safety circuits are sat-
isfied.
Enabling the robot high power for the first time after system power up executes a calibrate func-
tion to load joint calibration offsets into memory. This does not perform a full robot hardware
calibration.
NOTE:
Enabling high power also executes a robot calibration procedure using
the CALIBRATE keyword. Refer to the
eV+3 Keyword Reference Manual (Cat. No.
I652)
and the
eV+3 User's Manual (Cat. No. I651)
for more information.
High Power Safety Timeout
If the safety timeout function is enabled in the robot configuration, the high power lamp on the
Front Panel will flash for a specified amount of time after a high power request is made. If the
high power button is not pressed within the specified amount of time, a safety timeout occurs
and high power is not applied.
The safety timeout function is enabled by default and has a duration set for 10 seconds. The
safety timeout function configuration settings are accessed with Sysmac Studio. Refer to the
software user documentation for more information.
Additional Information
: If a Front Panel is not present, the high power lamp
and high power button signals can be accessed with the XFP system cable con-
nector. Refer to Front Panel Schematic on page 48 for more information.
