110 eCobra User's Guide 14402-000 Rev. F
6.9 Commissioning a System With An eAIB
9.
Connect the eAIB XSYSTEM cable to the chassis XSYSTEM connector, or,
if you are using an optional SmartController EX, connect the eAIB XSYS cable to the
chassis XSYSTEM connector.
10.
Connect any other cables that were connected to the chassis, such as XIO, RS-232, 1394,
or any others.
If you are using an optional SmartController EX, connect the XSYS end of the eAIB
XSYS cable to the XSYS port on the controller.
11.
Connect the 24 VDC supply cable to the chassis +24 VDC input connector.
12.
Switch on the 200/240 VAC input supply to the chassis.
13.
Switch on the 24 VDC input supply to the chassis.
14.
Switch on the optional SmartController EX, if you are using one.
15.
Once the system has completed booting, test the system for proper operation.
6.9 Commissioning a System With An eAIB
Commissioning a system involves synchronizing the robot with the eAIB.
For a new system with an eAIB, the robot and the eAIB will have been commissioned at the
factory and should not need commissioning.
In rare cases with a new robot with an eAIB, you may need to commission the system.
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If the system will not power up, and the robot status display shows SE, you need to
commission the system.
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If the system will not power up in Manual mode, and the robot status display shows
TR, you need to commission the system.
Safety Commissioning Utilities
The eAIB adds two functions that implement safety in hardware:
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E-Stop
This serves as a backup to the standard software E-Stop process. The system will
always try to stop the robot using the software E-Stop first. The hardware E-Stop will
take over in the event of a failure of the software E-Stop.
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Teach Restrict
This limits the maximum speed of the robot when it is operated in Manual mode. As
with the E-Stop, this is a hardware backup to software limits on robot speed. If the soft-
ware fails to limit the robot speed during manual operation, the hardware Teach
Restrict will disable power to the system.
These two functions are supported by four wizards:
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E-Stop Configuration
This sets the E-Stop hardware delay to factory specifications.
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E-Stop Verification
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