Chapter 5: Commissioning 39
99-04-23
• Installed CROSnt on the computer, started CROSnt, and have the CROSnt
Command Prompt window active.
• Powered up the controller.
• Have communication over the SimSockD connection. (Have \sbin\simsockd in
-send mode running on CROSnt and \sbin\simsockd in -rcv mode running on
CROS-500 with compatible configuration from each simsockd.cfg file.)
Teach Pendant
To use the teach pendant, ensure that you have:
• Connected the teach pendant to its connector at the upper left corner of the
front panel of the controller. If the over-ride plug is in that connector, remove
the plug first.
• Powered up the controller.
Systems with CROSnt do not normally use the teach pendant. If you have a
system with CROSnt, and want to use the teach pendant, ensure that you:
• Disconnected the SimSockD cable from the teach pendant connection.
Configured the teach pendant port (port 0 of CROS-500) to 19200 baud, using
the system shell’s siocfg command.
• Connected the teach pendant to its connector on the front panel of the
controller.
• Have the teach pendant process (stpv3) already running on CROS-500C or
have started it by typing pendant at the C500C prompt.
Operation
Follow the Safety Operation Checks on page 23 before operating the arm.
Check Encoder Feedback
This procedure checks that the position signals from the arm are received by the
controller.
Warning! Do not turn on arm power unless all robot axes demonstrate feedback.
Failure to verify feedback can result in the arm running away uncontrolled when arm
power is applied.
Before you begin, ensure that you:
Have a terminal onto the controller. There are three different ways to do this,
either:
• Have a terminal emulator on a computer or a simple terminal
• Have the Terminal window of Robcomm3 on a computer.
• If you have a system with CROSnt, have the command prompt window of
CROSnt on a computer.
To check the encoder feedback:
1. Turn on your computer or terminal. Depending on the tool that you are using,
start Robcomm3 and open the terminal window, start CROSnt, or start your
terminal emulator.
To Next Page
Loading...