Chapter 6: Maintenance
E-Stop Verification Utility
This utility verifies that the hardware E-Stop parameters are set correctly and that the hard-
ware E-Stop is working.
The hardware E-Stop must have already been configured for this wizard to run.
NOTE: If the commissioning jumper is plugged into the XBELTIO jack on the
eAIB, remove it before you start this procedure.
Procedure
From within the ACE software:
1.
Open the robot object editor.
2.
Select Configure > Safety Settings > Verify ESTOP Hardware Delay, then click Next.
3.
Enable high power, if not already enabled, then click Next.
4.
Press an E-Stop button (on the Front Panel), then click Next.
The utility will confirm that the hardware delay has been verified for this robot, and dis-
play the delay times for channels A and B.
5.
Reboot V+:
Controller >Control >Reboot V+
NOTE: This can also be accomplished by removing 24 VDC power from
the controller.
Teach Restrict Configuration Utility
This utility sets the hardware Teach Restrict maximum speed parameter to factory spe-
cifications.
NOTE: Ensure that the commissioning jumper is plugged into the XBELTIO jack
on the eAIB before you start this procedure.
Procedure
NOTE: This procedure takes 2 or 3 minutes to complete.
From within the ACE software:
1.
Open the robot object editor.
2.
Select Configure > Safety Settings > Configure Teach Restrict, then click Next.
3.
From the Prerequisite screen, click Next.
The wizard will go through all of the robot's motors, and display messages that it is con-
figuring Channel A and B for each.
It will then record the configuration, and display the target times that it set.
14402-000 Rev. F eCobra User's Guide 113
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