Adept s650 Viper - Manual (Page 81)

Chapter 6: Maintenance
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
Page 81 of 100
3. Teach a Start Position.
NOTE: This procedure will move the robot approximately ±5 degrees from
the starting point of each joint.
This can be any position that does not conflict with obstacles or the limits of joint move-
ments.
l If the robot is already in such a position, you can just click Next.
l Otherwise, move the robot to such a position, then click Next.
l
The screen will display the number of degrees that each joint is expected to move
during the verification process.
l
You can click Preview Motions on this screen to view the motions at slow speed.
The default speed is 10, but you can change that speed with this screen's speed
control.
l You can click Move to Ready, to move the robot to the Ready position.
The robot will move each joint, in succession. It will generate an over-speed con-
dition for each, and verify that the hardware detected the over-speed condition.
4. Click Next, to proceed to the Manual Mode Procedure.
If the Automatic Mode Procedure fails, you will not be allowed to proceed with the Man-
ual Mode.
Manual Mode Procedure
The manual mode of this verification requires the use of an Adept pendant.
For this verification, the Front Panel keyswitch must be in Manual mode.
1. From the Introduction screen, click Next.
l Set the pendant to Joint mode.
l Set the pendant manual control speed to 100.
2. Click Next.
3. Using the pendant, jog any of the robot's joints until power is disabled.
This indicates that the Teach Restrict function is working.
4. Click Next.
The results of the verification will be displayed.
5. Click Finish.
6. If the SmartController does not reboot, cycle power on the SmartController.
7. Reset the Front Panel keyswitch to Auto mode.