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Appendix B - Dual Adept 550 Robots
The CALIBRATE monitor command will calibrate both robots. Robot 1 will be calibrated
first, then robot 2.
If you want to temporarily disable either robot and continue to use the other, you can use
the DISABLE ROBOT[] command. For example DISABLE ROBOT[2] will cause V
ignore robot 2. If you issue this command before you use the CALIBRATE command, then
only one robot will be calibrated. Robot 1 can be then used normally. To re-enable robot 2,
use the command ENABLE ROBOT[2].
B.5
Emergency Stop Circuit Shuts Off Both Robots
The Adept MV controller has many safety features, including the Emergency Stop circuit.
These are designed to safely stop both robots simultaneously in the event of a problem.
The Adept multi-robot system is designed for multiple robots operating in the same
workcell. Therefore, if one robot has a fault, the other robot will also be stopped. A brief
message will be displayed, indicating the problem. The message will also state which
joint(s) and which robot is affected. The most common system messages are described in
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the V
Operating System User's Guide. A full list of system messages with complete
explanation and suggested user actions is in the V
Examples of faults that can be detected by the Adept control system are *Envelope error*
and *Motor stalled*. Both of these messages may mean that a robot has collided with an
unexpected object in the workspace, therefore both robots will be stopped.
The Emergency Stop signal will also stop both robots connected to the same controller. It
is not possible to use the E-Stop signal to stop only one robot. The Emergency Stop
switches on the external Front Panel (VFP) and the Manual Control Pendant (MCP) shut
off high power to both robots when the switch is pressed.
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Adept 550 Robot Instruction Handbook, Rev A
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Language Reference Guide.
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