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Chapter 5
Manual/Automatic Mode Switch
In Automatic (Auto) mode executing programs control the mechanism, and the
mechanism can be run at full speed. In Manual mode the system limits
mechanism speed and torque so that an operator can safely work in the cell.
Manual mode initiates software restrictions on robot speed, commanding no
more than 250 mm/sec as required by RIA and ISO standards. For Category 3
mechanisms, such as the AdeptOne-XL, safety regulations require that the
software speed and torque limiting be enforced by hardware. This hardware must
be redundant and self-testing. The Manual Mode Safety Package (MMSP)
available for the Adept XL series of robots implements this functionality. See
'
(
for the location of the Manual/Automatic mode switch on the CIP.
High Power On/Off Switch/Lamp
This switch, marked with a robot figure and the international on/off symbol (|,
)
O
, controls high power, which is the flow of current from the amplifiers to the
robot motors. Enabling high power is a two-step process. An "Enable Power"
request must be sent from the system terminal, an executing program, or the
manual control pendant. Once this request has been made, the operator must
press this button and high power will be applied.
High Power cannot be enabled if this lamp is burned out. See
53! *" #
details.
MCP Connector
The Manual Control Pendant (MCP) plugs into this connector. The CIP works
only with the MCP III, P/N 10332-11000 (Assembly # 90332-48050). Other Adept
pendants will not work because they do not incorporate the dual ESTOP
channels. See the description of the manual control pendant in the robot
instruction handbook for details.
Adept controller systems that contain a VME Front Panel (VFP).
Damage may also result if older MCPs (part numbers other than
10332-11000) are plugged into a CIP.
System Power Switch
This switch, marked with a lightning bolt, allows you to switch a relay or other
power switching equipment to control power to the Adept controller and other
equipment. See
independent, normally open contacts on this switch come out of the User
connector and out of a terminal block on the MMSP. They are for customer use
only.
90
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Damage may result if an MCP III is plugged into older
. +;.</ 1
Adept MV Controller User's Guide, Rev. B
Introduction
for
for details. The two
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