Adept s650 Viper - Manual (Page 77)

Chapter 6: Maintenance
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
Page 77 of 100
6.7 Commissioning a System with an eMB-60R
Commissioning a system involves synchronizing the robot with the eMB-60R.
NOTE: This section only applies to robots that have an eMB-60R amplifier. A robot
with an MB-60R amplifier does not need the Adept ACE commissioning.
For a new system with an eMB-60R, the robot and the eMB-60R will have been commissioned
at the factory and should not need commissioning.
If you are replacing an MB-60R with an eMB-60R, you will need to commission the system.
In rare cases with a new robot with an eMB-60R, 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 eMB-60R adds two functions that implement safety in hardware:
l
E-Stop 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 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 eMB-60R amplifiers. They were not implemented in hard-
ware in the MB-60R 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.
Commissioning Status
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.