Continuous Tests; Watchdog Timer; Drive Faults; Rsc Watchdog Timer - adept technology MV User Manual

Appendix F

Continuous Tests

Watchdog Timer

Each CPU contains a watchdog timer to check that the V
functioning. If the timer detects no activity, it will turn on a signal (SYSFAIL) on
the VME backplane. This will disable HIGH POWER.

Drive Faults

The controller continuously monitors fault signals from each servo-amplifier.
Adept amplifiers check motor open circuit, over current, voltage sag, and
amplifier temperature.

RSC Watchdog Timer

The RSC (in Adept robots) contains a watchdog timer to monitor its operation and
to detect power failures.

Encoder Signals

The position-feedback signals from the robot are continuously monitored for
quadrature and index errors. MI3/MI6 systems include an optional test for loss of
differential encoder signals.
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V

FREE Command

The user can issue the V
+
of the V operating system, Vision, and Servo code area of RAM. It validates data
structures where user program data resides. During null time a simple check on
CPU diagnostics is performed.
+
V

Cycle Tests

Communication between V
communication is lost, arm power is turned off and a fatal error message is
displayed.
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FREE command at any time. This measures a checksum
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and servo code is tested every cycle of the V
Adept MV Controller User's Guide, Rev. B

Continuous Tests

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operating system is
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code. If