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Similarly, the name of the installation file that is currently loaded is shown in the grey text field. A
different installation can be loaded by tapping the text field or by using the Load button next to it.
Alternatively, the loaded installation can be customized using the buttons next to the 3D view in
the lower part of the screen.
Before starting up the robot arm, it is very important to verify that both the active payload and the
active installation correspond to the actual situation the robot arm is currently in.
Initializing the robot arm
The large button with the green icon on it serves to perform the actual initialization of the robot
arm. The text on it, and the action it performs, change depending on the current state of the robot
arm.
• After the controller PC boots up, the button needs to be tapped once to power the robot arm
on. The robot arm state then turns to Power on and subsequently to Idle. Note that when an
emergency stop is in place, the robot arm cannot be powered on, so the button will be disabled.
• When the robot arm state is Idle, the button needs to be tapped once again to start the robot
arm up. At this point, sensor data is checked against the configured mounting of the robot
arm. If a mismatch is found (with a tolerance of 30 ), the button is disabled and an error
message is displayed below it.
If the mounting verification passes, tapping the button releases all joint brakes and the robot
arm becomes ready for normal operation. Note that the robot makes a sound and moves a
little while releasing the brakes.
• If the robot arm violates one of the safety limits after it starts up, it operates in a special Re-
covery mode. In this mode, tapping the button switches to a recovery move screen where the
robot arm can be moved back within the safety limits.
• If a fault occurs, the controller can be restarted using the button.
• If the controller is currently not running, tapping the button starts it.
Finally, the smaller button with the red icon on it serves to power off the robot arm.
CB3
DANGER:
Always verify that the actual payload and installation are correct be-
fore starting up the robot arm. If these settings are wrong, the robot
arm and control box will not function correctly and may become dan-
gerous to people or equipment around them.
CAUTION:
Great care should be taken if the robot arm is touching an obstacle or
table, since driving the robot arm into the obstacle might damage a
joint gearbox.
II-32
11.5 Initialization Screen
Version 3.10
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