Adept s650HS Quattro - Manual (Page 98)

Chapter 5: System Operation
Enabling High Power
After you have started the Adept ACE software and connected to the controller, enable high
power to the robot motors:
1. From the Adept ACE main menu, click the Enable High Power icon:
2. If the High Power button on the Front Panel is blinking, press and release it.
The Front Panel is shown in Figure 5.4. (If the button stops blinking, you must Enable
Power again.)
NOTE: The use of the blinking High Power button can be configured (or eliminated)
in software. Your system may not require this step.
This step turns on high power to the robot motors and calibrates the robot.
l The Robot Status LED glows amber.
l
The code on the Robot Diagnostic Panel displays ON (see Figure 5-1).
Verifying E-Stop Functions
Verify that all E-Stop devices are functional (pendant, Front Panel, and user-supplied). Test
each mushroom button, safety gate, light curtain, etc., by enabling high power and then
opening the safety device. The High Power push button/light on the Front Panel should go out
for each.
Verify Robot Motions
Use the pendant (if purchased) to verify that the robot moves correctly. Refer to the Adept T2
Pendant User’s Guide or Adept T20 Pendant User’s Guide for complete instructions on using the
pendant.
The Adept Quattro robot is a parallel-arm robot and, as such, individual joint motions are not
allowed. If you attempt to move a joint in Joint mode, you will get an error message:
JOINT <n> OUT OF RANGE
where <n> is the joint that you attempted to move.
NOTE: All joint numbers correspond to the number embossed on the bottom of the
base.
l If one joint must be moved separately, release the brakes (while supporting the
platform) and move the joint manually.
l
If the optional pendant is not installed in the system, you can move the robot using the
Robot Jog Control in the Adept ACE software. For details, see the Adept ACE User’s
Guide.
Adept Quattro User's Guide, Rev F
Page 98 of 196