Omron eCobra 600 - Teach Restrict Verification Utility

114 eCobra User's Guide 14402-000 Rev. F
6.9 Commissioning a System With An eAIB
4.
Click Finish.
5.
Reboot V+:
Controller >Control >Reboot V+
NOTE: This can also be accomplished by momentarily removing 24 VDC
power from the controller.
Teach Restrict Verification Utility
This utility verifies that the Teach Restrict parameters are set correctly and that the hardware
Teach Restrict maximum speed control is working.
This is a two-part wizard. The first is run in Auto mode. The second is run in Manual mode.
Before running this verification utility, the Teach Restrict must be configured.
NOTE: If the commissioning jumper is plugged into the XBELTIO jack on the
eAIB, remove it before you start this procedure.
Automatic Mode Procedure
!
WARNING: PERSONALINJURYRISK
The robot will move during this wizard. Ensure that personnel stay clear of the
robot work area.
From within the ACE software:
1.
Open the robot object editor.
2.
Select Configure > Safety Settings > Verify Teach Restrict, then click Next.
3.
Teach a Start Position.
This can be any position that does not conflict with obstacles or the limits of joint move-
ments.
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If the robot is already in such a position, you can just click Next.
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Otherwise, move the robot to such a position, then click Next.
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The screen will display the number of degrees that each joint is expected to move
during the verification process.
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You can click Preview Motions on this screen to view the motions at slow speed.
The default speed is 10, but you can change that speed with this screen's speed
control.
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You can click Move to Ready, to move the robot to the Ready position.
The robot will move each joint, in succession. It will generate an over-speed con-
dition for each, and verify that the hardware detected the over-speed condition.
4.
Click Next, to proceed to the Manual Mode Procedure.