How to Start AdeptModules
AdeptModules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. A 93
6. Press the blinking “HIGH POWER ON/OFF” button on the VFP.
NOTE: In Automatic mode it may take up to 8 seconds to complete the
High Power sequence.
In Manual Mode
Follow these steps to enable High Power in Manual mode with the MCP:
NOTE: If High Power is on and you release the enabling switch on the
MCP, the system recognizes an emergency stop signal and will turn off
High Power immediately.
1. Turn on the power switches on the controller and the power chassis.
2. Set the VFP System Power switch into the position
I
to turn on system power.
3. Verify that all Emergency-Stop switches are pulled out and all access doors to the
workcell are closed.
4. Set the operating keyswitch to
MANUAL and the other keyswitch to LOCAL. For
added safety, remove the keys from the keyswitches.
5. Press the “COMP/PWR” button on the MCP.
6. Release the enabling switch, as instructed by a message on the MCP display, and
then close the switch again. This step checks for proper operation of the enabling
switch. This step is not required in Automatic mode.
7. Press the blinking “HIGH POWER ON/OFF” button on the VFP.
NOTE: In Manual mode it may take up to 20 seconds to complete the
High Power sequence.
To reenable High Power after pressing the MCP emergency stop button, turn the
emergency stop button to the right (clockwise). The switch is spring-loaded and
will return to its normal position. Depress the enabling switch. High Power can
now be reenabled by pressing the COMP/PWR button (mode control group) and
the HIGH POWER ON/OFF push button on the VFP.
Calibration Parameters
The default calibration parameters are loaded as part of the AdeptModules Quick Setup
with joint-specific files. By default, AdeptModules calibrate toward the motor end.
Calibration of the AdeptModules with the MCP
The AdeptModules can be calibrated only when High Power is enabled and Automatic
mode is selected. If the AdeptModules are in Manual mode, you must switch to
Automatic mode. After changing the operating mode, High Power is shut off
automatically. See the instructions above to enable High Power.
NOTE: Refer to Appendix D for testing and troubleshooting information.
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