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4. High Power On/Off Switch & Lamp
Controls high power, which is the flow of current to the robot motors. Enabling high
power is a two-step process. An "Enable Power" request must be sent from the user ter-
minal, an executing program, or a pendant. Once this request has been made, the button
light blinks, and the operator must press the button for high power to be applied. The
default timeout for the button is 10 seconds
NOTE: The default timeout period of 10 seconds is programmable, and can be changed or
disabled, in which case the button does not blink, and does not need to be pressed to ena-
ble high power.
5. Emergency Stop Switch
The E-Stop is a dual-channel, passive E-Stop that supports Category 3 CE safety require-
ments. It supports a customer-programmable E-Stop delay that maintains motor power
for a programmed time after the E-Stop is activated. This customizable feature allows
the motors to decelerate under servo control to a stop. This can aid in eliminating coast-
ing or overshooting on low friction mechanisms. It can also aid in the reduction of wear
on highly-geared, high-inertia mechanisms, while maintaining safety compliance per all
standards.
Programming the E-Stop Delay
To set the programmable E-Stop delay from the Adept ACE software, go to the object editor for
the robot, and enable Expert Access:
Object > Expert Access
NOTE: This requires a password to enable.
Once enabled, you will be able to see and modify the following three parameters (among
others):
Auto Mode E-Stop Shutdown Timeout
l
Hold-to-Run E-Stop Shutdown Timeout
l
Manual Mode E-Stop Shutdown Timeout
l
Each of these is the time, in seconds, after that mode E-Stop is asserted, in which eV+ is
allowed to decelerate the robot, engage the brakes, and shut down power before the servo
nodes automatically shut down power. The value can be set from 0 (immediate power-off) to
0.512 seconds. If the deceleration is too slow, or the brake-on delay too long, the servo will auto-
matically cut power.
3.3 Installing the Adept ACE Software
Chapter 3: Operation
WARNING: Make sure that all cables are installed correctly and fully
inserted and screwed down before applying power to the system. Failure
to do this could cause unexpected robot motion. Also, a connector could
be pulled out or dislodged unexpectedly.
Adept SmartController EX User's Guide, Rev.C
Page 32 of 96
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