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Operation
Figure 4-8. Command (CMD) Function Button
The AUTO START, CALIB, CMD1, and CMD2 functions require the system to be in Auto
mode. If one of these function buttons is pressed while the system is in Manual mode, the
pendant prompts you to place the keyswitch in the Auto position. The operation is halted
and you must press the function button again. The programs started by these buttons may
include a WAIT.START instruction, in which case the program will pause and the
pendant will display START and CANCEL buttons over the two right soft buttons:
• START allows the program to continue.
• CANCEL halts program execution.
NOTE: The programs started by these functions run in task 0. Therefore,
high power must be enabled and the robot must be calibrated.
AUTO START When AUTO START is pressed, the pendant display shows:
Enter last two digits of file name:
LOAD auto_
Enter one or two digits and press REC/DONE. The system attempts to load the
user-created file AUTOxx.V2 from the default disk, and COMMAND the program
"autoxx" (xx refers to the digits you entered). Refer to the
Guide
and search on "autostart" for more information on this functionality. The program
file AUTOxx.V2 must reside on the default disk, and it must contain a monitor command
program named "autoxx". If the file does not exist, or does not contain a correctly named
program, the operation will be aborted and the appropriate error message will be
displayed on the LCD. For example, if you had entered '9', the system would attempt to
load the file AUTO9.V2 and COMMAND the program "auto9".
CALIB When CALIB is pressed, the robot calibration procedure begins (high power
must be enabled). See
process.
STORE ALL When STORE ALL is pressed, the pendant displays:
Enter last two digits of file name:
STORE auto_
Enter one or two digits, press REC/DONE, and all programs and variables in system
memory will be stored to a file on the default disk with the name autoxx.v2. For example,
if you had entered "11", the file AUTO11.V2 would be created, and all programs and
global variables in system memory would be stored to that file.
34
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Section 4.3 on page 24
for a complete description of the calibration
Adept T2 Pendant User's Guide, Rev D
V+ Operating System User's
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