adept technology Cobra s600, Руководство пользователя

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Chapter 11 - Dual Robot Systems
144 Adept Cobra s600/s800 Robot User’s Guide, Rev H
9. System will return with a “dot” (.) prompt, if everything was successful, then
high power will be enabled, and the status panel display will read “ON.”
10. System is ready for operation.
11.7 Operation With the Adept T1/T2 Pendant
The optional Adept T1/T2 pendant can be used to control either robot in a dual robot
system. By default, the T1/T2 controls robot 1. To switch to robot 2, press the DEV/F3
button on the pendant. The DEV LED turns on in this condition.
To switch back to robot 1, press the DEV/F3 button again. The DEV LED turns off.
See the T1 Pendant User’s Guide or the T2 Pendant User’s Guide for complete information
on using the T1 or T2 pendant.
NOTE: When using a pendant, either the Adept T1/T2 Pendant or the
MCP4, with an Adept robot, the Free Mode is disabled for safety reasons.
11.8 Programming Information
V
+
Language Programming
By default, Task 0 is used to control robot 1. Task 1 is normally recommended for robot 2.
Use the SELECT ROBOT=2 and ATTACH instructions in your program to select robot 2.
See the
V+ Language User’s Guide and the V+ Language Reference Guide for more
information on these instructions.
V
+
Monitor Commands
By default, monitor commands such as HERE and WHERE apply to robot 1. Use the
monitor command SELECT ROBOT=2 first when you need to display the location of robot
2.
NOTE: The DISABLE POWER command shuts off high power to both
robots in a dual robot system.
The CALIBRATE monitor command will calibrate both robots. Robot 1 will be calibrated
first, then robot 2.
You can temporarily disable either robot and continue to use the other, by using the
DISABLE ROBOT[ ] command. For example DISABLE ROBOT[2] will cause V
+
to ignore
robot 2. If you issue this command before you use the CALIBRATE command, then only
one robot will be calibrated. Robot 1 can be then used normally. To re-enable robot 2, use
the command ENABLE ROBOT[2].