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AdeptThree User's Guide
4.3 Draining Moisture from the Air Filter
The air filter on the compressed air inlet at the robot base has a moisture
trap that should be emptied periodically, depending on the quality of the
air supply and the frequency of usage. The procedure to empty the trap
is done with the air supply connected. To empty the trap, use a rag to
push up on the bottom of the air filter.
4.4 Joint 4 Overtravel
Softstop and hardstop limits are discussed in Chapter 2. The hardstops
for Joints 1, 2, and 3 do not require maintenance. With Joint 4, however,
it is possible, under conditions involving high speed, for the robot to
contact a hardstop. The Joint 4 hardstop is designed to withstand large
forces without damage and even to slip slightly if impacted sufficiently.
In such cases the robot is unharmed, but may not be able to attain
previously programmed locations.
Diagnostic Procedure
A robot with a slipped Joint 4 hardstop will display one of two
symptoms: 1) If the robot has been recalibrated using the CALIBRATE
command, the Joint 4 rotation at all locations may have an offset; 2) If the
robot has not been calibrated since the hardstop encounter, the robot will
produce a Joint 4 *Envelope error* or *Time-out nulling errors*. In either
case it is likely that the Joint 4 hardstop has slipped and needs to be reset.
Use the following procedure to diagnose hardstop slippage:
1.
Verify that the robot controller is on and the robot is calibrated.
2.
Turn HIGH POWER (ARM POWER) off.
3.
Place the manual control pendant (MCP) into the Joint Angle
Display mode by pressing the DISP button, followed by pressing the
JOINT VALUES button. Four joint values should be visible on the
MCP display (five if you have the optional fifth axis package
installed).
If there is no MCP on the system, the operator would type "WHERE
1" at the system terminal to start a continuous display of position
information. Typing ^C terminates the display.
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