adept technology Cobra s600, Руководство пользователя

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Chapter 5 - System Operation
66 Adept Cobra s600/s800 Robot User’s Guide, Rev H
User-Supplied Safety Equipment Checks
Verify that all user-supplied safety equipment and E-Stop circuits are installed correctly.
System Start-up Procedure
Once the system installation has been verified, you are ready to start up the system.
1. Switch on the 200/240 VAC power.
2. Switch on the 24 VDC power to the robot.
3. Switch on the 24 VDC power to the controller.
4. Connect to the controller via AdeptWindows, and boot the system from the ‘D’
default drive.
5. Wait for the system to complete the boot cycle. Once completed the system will
return with a “dot” prompt, and the following window should be displayed.
Figure 5-7. Typical Startup Screen
6. There should be no errors, if the boot sequence completed successfully.
7. Disengage any E-Stops.
8. Manually move the arm away from the shipping position. Joints 1, 2, and 4 can be
moved by pushing the joint. To move Joint 3, use the brake release button, located
above the status panel. Make sure that you hold Joint 3, prior to pressing the
brake release button.
9. Type enable power.
ENA POW <enter>
Press the High Power button on the Front Panel while it is blinking.
10. Type calibrate.
CAL <enter>
NOTE: The robot will move slightly, with less than a 1.5 degree rotation of
J4, and you might hear an audible click from the J3 brake releasing when
calibration is executed. The robot is now servoing all motors to remain in
position at all times.