Appendix D - Test and Troubleshooting
146 AdeptModules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. A
*RSC Communication Failure* (Robot #)
*Time Out Enabling Power*
The above two errors are reported consecutively when trying to enable high power while
the Arm Signal cable is not connected. In this case the system may lock up.
*Motor Startup Failure* Mtr in (Robot #)
This error is reported when calibration is attempted while the encoder cable is not
connected.
D.4 Calibration Related Problems
Once the Software setup is done as described in Chapter 4, the AdeptModules are ready to
be calibrated. The CALIBRATION will fail if the calibration process is started by entering
the CAL command while the AdeptModule is covering any one of the sensors at the ends
of the modules travel. Ensure that the sensors are not covered before calibration. For
safety, make sure to position the AdeptModule towards the center of the travel range.
Reboot the Adept MV controller if the calibration was attempted while a module was
covering one of the sensors.
D.5 Setup Related Problems
1. “AdeptModules Quick Setup” is not showing up as a menu item in the main
menu of “SPEC”.
LMMV X/Y/Z/Theta or Enhance LMMV X/Y/Z/Theta device module is not
loaded. Refer to Chapter 4.
2. Initialization errors are reported after going through “AdeptModules Quick
Setup”.
This will generally happen with a multiple robot configuration. The user can have
a multiple robot configuration with one EJI board or with multiple motion boards
(EJI, VJI or MI3/6) in the same Adept MV controller. The initialization errors
indicate that mapping of the motion board, the joints, and the motors are
incorrect. It is also possible that the motion board (EJI, VJI or MI3/6) address is
not set correctly. Refer to Appendix B for further details on setting up multiple
robots.
D.6 Diagnostic Tests
The SPEC program provides the capability of performing diagnostic tests. With
AdeptModules system, the diagnostic test feature offers limited functionality. This test is
mainly used for verifying encoders by moving the AdeptModule manually. The
diagnostic test CANNOT be used to check discrete inputs, such as OVERTRAVEL, HOME
SWITCH, and DRIVE FAULT. Also, it cannot be used to drive the AdeptModule by
applying an analog output (DAC). Use status LEDs as described in Chapter 2 for verifying
inputs.
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