Adept s650H Quattro - Manual (Page 76)

Chapter 5 - System Operation
76 Adept Quattro s650 Robot User’s Guide, Rev B
10. If you did not hear a click in the previous step, you must explicitly calibrate the
robot:
CAL < ENTER >
11. The system will return with a “dot” (.) prompt if everything was successful, then
high power will be enabled, and the status panel display will read “OK.”
12. The system is ready for operation.
NOTE: You may receive an “exception overrun” or “obstacle detected”
error if the platform is not in the robot work envelope or is disconnected
from the robot base. If so, disable power (by typing “DIS POW” at the V+
dot prompt), release the brakes, and move the platform into the work
envelope.
Verifying E-Stop Functions
Verify that all E-Stop devices are functional (T1, Front Panel, and user-supplied). Test
each mushroom button, safety gate, light curtain, etc., by enabling High Power and then
opening the safety device. The High Power push button/light on the Front Panel should
go out.
Verifying Robot Motions
Use the T1 (if purchased) to verify that the robot moves correctly. Refer to the Adept T1
User’s Guide for complete instructions on using the T1.
The Quattro is a parallel-arm robot and, as such, individual joint motions are not allowed.
If you attempt to move a joint in Joint mode, your will get an error message:
JOINT OUT OF RANGE
where is the joint that you attempted to move.
NOTE: All joint numbers correspond to the number etched into the end
caps of the inner arms.
If one joint must be moved independently, release the brakes (while supporting the
platform) and move the joint manually.
5.7 Quattro Motions
Straight-line Motion
Joint-interpolated motion is not possible with the Adept Quattro s650 robot, because the
positions of all the joints must always be coordinated in order to maintain the connections
to the moving platform. Therefore, for the Adept Quattro s650 robot, the V+ system
automatically performs a straight-line motion when a joint-interpolated motion
instruction is executed.