Adept s800 s800 - Manual (Page 41)

Chapter 4: System Operation
LED Status Code LED Status Code
E# Encoder Fault (Joint #) SE E-Stop Delay Fault
ES E-Stop SW Watchdog Timeout
F# External Sensor Stop S# Safety System Fault (Code #)
FM Firmware Mismatch T# Safety System Fault
(Code 10 + #)
FW 1394 Fault TR Teach Restrict Fault
h# High Temp Amp (Joint #) V# Hard Envelope Error (Joint #)
For more information on status codes, go to the Adept Document Library on the Adept website,
and in the Procedures, FAQs, and Troubleshooting section, look for the
Adept Status Code
Summary document.
4.3 Brakes
The robot has a braking system that decelerates the robot in an emergency condition, such as
when the emergency stop circuit is open or a robot joint passes its softstop.
The E-Stop is a dual-channel, passive E-Stop that supports Category 3 CE safety requirements.
It supports a customer-programmable E-Stop delay that maintains motor power for a
programmed time after the E-Stop is activated. This customizable feature allows the motors to
decelerate under servo control to a stop. This can aid in eliminating coasting or overshooting
on low friction mechanisms. It can also aid in the reduction of wear on highly-geared, high-
inertia mechanisms, while maintaining safety compliance per all standards.
The Programmable E-Stop delay can be set up in Adept ACE, in the robot editor. The default
setting is correct for most applications. For details, see the next section.
The braking system will not prevent you from moving the robot manually once the robot has
stopped (and high power has been removed).
In addition, Joint 3 has an electromechanical brake. The brake is released when high power is
enabled. When high power is turned off, the brake engages and holds the position of Joint 3.
Programmable E-Stop Delay
To set the programmable E-Stop delay from the ACE software, go to the object editor for the
robot, and enable Expert Access:
Object > Expert Access
NOTE: This requires a password to enable.
Once enabled, you will be able to see and modify the following three parameters (among
others):
l Auto Mode E-Stop Shutdown Timeout
l Hold-to-Run E-Stop Shutdown Timeout
l
Manual Mode E-Stop Shutdown Timeout
Adept Cobra s800 Inverted Robot User's Guide, Rev H1
Page 41 of 142