CRS A255 - Schedule Regular Checking of E-Stops

40 A255 Robot Arm User Guide
99-04-23
2. Turn on the controller. The controller front panel display indicates “C500C
CROS OK” and the terminal displays a $ prompt.
3. Start the application shell by typing ash test.
4. If the teach pendant is connected and obtains control, transfer control from the
teach pendant to the terminal. At the teach pendant, press Shift + ESC.
5. At the terminal’s prompt (test>), type w1 and press Enter. This command
continuously displays the robot arm position as motor pulse counts.
6. With Arm Power OFF, by hand, gently push each axis in each direction of motion
and observe the readout on the screen. The pulse count increments (increases)
or decrements (decreases).
• The axis should display positive and negative feedback when moved back
and forth.
• If the axis displays only positive or only negative feedback, re-check all
umbilical connections to the robot.
7. Once you have verified feedback for all axes, press Ctrl + E. The prompt
returns.
You are now ready to check the functionality of the e-stops.
Check All E-Stops
This procedure checks each e-stop device to verify that it works. Check encoder
feedback according to the last procedure, then turn on arm power.
Note: Striking an e-stop does not remove power to the servo gripper. As a safety
feature, motor power to the gripper is maintained so the gripper does not
release its load.
1. Ensure that the controller is powered on and displays “C500C CROS OK”.
2. Re-set all the e-stops to complete the e-stop circuit. The e-stop buttons on the
controller and on the teach pendant are re-set by twisting until they spring out.
3. One at a time, test each e-stop.
a. Turn on arm power at the arm power switch, located near the upper right
corner of the front panel. You should hear a series of clicks from the arm as
the brakes release. The LED in the arm power switch should be
continuously lit, indicating that arm power is on.
b. Activate the e-stop device: strike the e-stop button, open the interlocked
door, interrupt the light beam, step on the pressure-sensitive mat, etc.
c. When you activate the e-stop, you should hear a series of clicks from the
arm as the brakes engage. The LED in the arm power switch should not be
lit, indicating that arm power is off. Check the LED.
d. Re-set this e-stop.
e. Repeat steps a to d until all e-stops are checked.
Schedule Regular Checking of E-Stops
Continue to check e-stops and other safety measures throughout the operating life
of the robot system. Establish a schedule of regular checks.