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Chapter 4 - Commissioning the System
4.1
Introduction
This chapter covers commissioning, or putting into service, the Adept robot system. This
includes verifying that the installation is complete, starting and stopping the robot, and
how to move the robot with the MCP.
4.2
Check Of Physical Connections
Physical Connections
Before turning on the controller and enabling High Power, make sure that all cables from
• robot to power chassis,
• robot to controller,
• controller to power chassis,
• VFP to controller and MCP
are installed correctly. See Chapter 2 for installation instructions.
CAUTION: Ensure that all screws holding the amp modules and blank
panels in the power chassis are securely fastened. If they are loose, power
!
to the robot cannot be enabled.
Make sure that the controller is connected to the correct AC power source. See Chapter 2
for details about the power requirements of the devices. Also make sure you have
installed proper safeguards and E-Stop circuits as described in Chapter 1 and Chapter 3.
4.3
VFP Operating Modes
Adept robots have two different operating modes.The VFP incorporates a 2-position
rotary keyswitch marked
in Manual or Automatic mode. For safety reasons, High Power is automatically disabled
when the operating mode is changed.
Manual Operating Mode
In the
position of the keyswitch, robot motion can be initiated only from the
MANUAL
Manual Control Pendant (MCP). In Manual mode it is not possible to initiate a motion
with the system keyboard. This protects the operator in the workcell for unexpected
motions of the robot.
In Manual mode the maximum speed of the Tool Center Point and the joints of the robot is
reduced to 250 mm per second (10 ips). Also, the motors run at reduced torque.
60
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and
MANUAL
AUTO
Adept 550 Robot Instruction Handbook, Rev A
that controls whether the robot is operating
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