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Chapter 4 - Commissioning the System
Selecting and Moving Joint 1
Before you can move Joint 1, you must select it with the MCP. On the right side of
Figure 4-6 you can see the buttons for selecting a joint in the Joint State. After pressing the
button that selects Joint 1, the LED on the button will turn on. Then you can move the
X1
robot with the speed bars.
NOTE: The operator must keep pressing the Hold-to-Run button to retain
High Power while working with the robot.
Press the positive speed bar until the robot starts moving. When it moves in one direction
stop pressing the speed bar. Then press the minus speed bar and watch the robot. It must
now move into the opposite direction. After you verified that the robot can move in both
directions, you can release the speedbar.
Selecting and Moving Joint 2
Press the
button on the MCP to select Joint 2. After pressing the
Y2
will turn on. The robot is ready to move Joint 2.
Press the positive speed bar until the robot starts moving Joint 2. When it moves stop
pressing the speed bar. Then press the negative speed bar and watch the robot. It must
move into the opposite direction. After you verified that the robot can move in both
directions, you can release the speedbar.
Selecting and Moving Joint 3
Press the
button on the MCP to select Joint 3. After pressing the
Z3
will turn on. The robot is ready to move Joint 3.
Press the positive speed bar. The robot quill must move in the direction of the floor. If you
verified that the robot follows the instruction, then press the minus speed bar and check if
the quill moves into the opposite direction.
Selecting and Moving Joint 4
Press the
button on the MCP to select Joint 4. After pressing the
RX4
on it will turn on. The robot is ready to move Joint 4.
Press the positive speed bar until the robot starts moving. When it moves, stop pressing
the speed bar. Then press the minus speed bar and watch the robot. It must move into the
opposite direction. After you verified that the robot can move in both directions you can
release the speedbar.
If every joint the robot moved correctly in both directions the installation of the hardware
is correct. Then press the
70
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button on the MCP to disable High Power.
DIS/PWR
Adept 550 Robot Instruction Handbook, Rev A
button the LED on it
Y2
button the LED on it
Z3
button the LED
RX4
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