Adept s350 Cobra - Manual (Page 73)

Chapter 7: Maintenance
6. Connect any other cables, which were connected to the MB-40R/eMB-40R, such as XIO,
RS-232, or any others.
7. Connect the 24 VDC supply cable to the MB-40R/eMB-40R +24 VDC input connector.
8. Switch on the 200/240 VAC input supply to the MB-40R/eMB-40R.
9. Switch on the 24 VDC input supply to the MB-40R/eMB-40R.
10. Switch on the SmartController.
11. Once the system has completed booting, test it for proper operation.
7.8 Commissioning a System with an eMB-40R
Commissioning a system involves synchronizing the robot with the eMB-40R.
NOTE: This section only applies to robots that have an eMB-40R amplifier. A robot
with an MB-40R amplifier does not need the Adept ACE commissioning.
For a new system with an eMB-40R, the robot and the eMB-40R will have been commissioned
at the factory and should not need commissioning.
If you are replacing an MB-40R with an eMB-40R, you will need to commission the system.
In rare cases with a new robot with an eMB-40R, you may need to commission the system.
l
If the system will not power up, and the robot status display shows SE, you need to
commission the system.
l If the system will not power up in Manual mode, and the robot status display shows
TR, you need to commission the system.
Safety Commissioning Utilities
The Adept eMB-40R adds two functions that implement safety in hardware:
l E-Stop
This serves as a backup to the standard software E-Stop process. The system will
always try to stop the robot using the software E-Stop first. The hardware E-Stop will
take over in the event of a failure of the software E-Stop.
l
Teach Restrict
This limits the maximum speed of the robot when it is operated in Manual mode. As
with the E-Stop, this is a hardware backup to software limits on robot speed. If the
software fails to limit the robot speed during manual operation, the hardware Teach
Restrict will disable power to the system.
These two functions are only in the eMB-40R amplifiers. They were not implemented in
hardware in the MB-40R amplifiers, so these utilities do not apply to those amplifiers.
These two functions are supported by four wizards:
l
E-Stop Configuration
This sets the E-Stop hardware delay to factory specifications.
l E-Stop Verification
Adept Cobra s350 User's Guide, Rev. D
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