Adept s600 Cobra - Manual (Page 64)

Chapter 5: Maintenance
5.8 Commissioning a System with an eAIB
Commissioning a system involves synchronizing the robot with the eAIB.
NOTE: This section only applies to robots that have an eAIB amplifier. A robot
with an AIB amplifier does not need the Adept ACE commissioning.
For a new system with an eAIB, the robot and the eAIB will have been commissioned at the
factory and should not need commissioning.
If you are replacing an AIB with an eAIB, you will need to commission the system.
In rare cases with a new robot with an eAIB, you may need to commission the system.
l If the system will not power up, and the robot status display shows SE, you need to
commission the system.
l If the system will not power up in Manual mode, and the robot status display shows
TR, you need to commission the system.
Safety Commissioning Utilities
The Adept eAIB adds two functions that implement safety in hardware:
l
E-Stop
This serves as a backup to the standard software E-Stop process. The system will
always try to stop the robot using the software E-Stop first. The hardware E-Stop will
take over in the event of a failure of the software E-Stop.
l
Teach Restrict
This limits the maximum speed of the robot when it is operated in Manual mode. As
with the E-Stop, this is a hardware backup to software limits on robot speed. If the
software fails to limit the robot speed during manual operation, the hardware Teach
Restrict will disable power to the system.
These two functions are only in the eAIB amplifiers. They were not implemented in hardware
in the AIB amplifiers, so these utilities do not apply to those amplifiers.
These two functions are supported by four wizards:
l E-Stop Configuration
This sets the E-Stop hardware delay to factory specifications.
l
E-Stop Verification
This verifies that the hardware E-Stop is functioning correctly.
l Teach Restrict Configuration
This sets the hardware Teach Restrict maximum speed to factory specifications.
l
Teach Restrict Verification
This verifies that the hardware Teach Restrict is functioning correctly.
The initial utility screen will tell you which functions are commissioned. If a function is not
commissioned, its verification wizard will not be displayed. Any displayed verification wizard
can be run at any time, to ensure that its function is working properly.
Adept Cobra s600/s800 Robot, User’s Guide, Rev L1
Page 64 of 128