How to Start AdeptModules
AdeptModules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. A 95
2. Have properly set:
*homing configuration
*homing speeds and distances
The above parameters are set during “AdeptModules Quick Setup”.
Do you wish to continue (Y/N)? y
The robot may now be repositioned for teaching. Make sure that none of the joints are
positioned at either end of the travel distance, covering any of the sensors.
Depress the “ENTER” key to continue.
Ready to find home switch. Okay to proceed (Y/N)? y
Answer “yes” to the above question. The joint will move and search for the HOME sensor.
This will allow the module to return to the start position.
Distance traveled to home switch: XXXX counts.
Ready to find zero index. Okay to proceed (Y/N)? y
By answering “yes” to the above question, the joint will move and search for the Index
pulse.
Index found. Distance from home switch to index is XX counts.
Do you want to save this value (Y/N)? y
Answer “yes” to the following question even if not correcting calibration. If not correcting
calibration, don’t move the module/motor to a known position.
The motor is now calibrated. Do you want to correct the
calibration by moving to a known position (typically the
kinematics zero position)(Y/N)? y
Move the joint to defined zero position, either with the pendant or manually. Typically, the
zero position is toward the motor end of the module.
Press the “ENTER” key to continue.
The current position is XX counts. Enter new position or
press ENTER to leave calibration unchanged: 0
Enter the value of 0 (zero) to make the current position Zero.
6. Return to the main menu
The user may define a park position after calibration by selecting “Park position after
calibration” in “Edit motor calibration parameters” menu.
NOTE: Make sure to save the parameters to the system disk at the end of
the procedure. The parameters can be saved by selecting “Save ALL
specifications to system disk” from the main menu of SPEC.
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