108 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
7.7 Commissioning a System with an eMB-40/60R
l
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 eMB-40/60R adds two functions that implement safety in hardware:
l
E-Stop 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.
l
Teach Restrict 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 software fails to limit the robot speed during manual operation, the hardware
Teach Restrict will disable power to the system.
These two functions are only in the eMB-40/60R amplifiers. They were not implemented in
hardware in the MB-40/60R amplifiers, so these utilities do not apply to those amplifiers.
These two functions are supported by four wizards:
l
E-Stop Configuration
This sets the E-Stop hardware delay to factory specifications.
l
E-Stop Verification
This verifies that the hardware E-Stop is functioning correctly.
l
Teach Restrict Configuration
This sets the hardware Teach Restrict maximum speed to factory specifications.
l
Teach Restrict Verification
This verifies that the hardware Teach Restrict is functioning correctly.
Commissioning Status
The initial utility screen will tell you which functions are commissioned. If a function is not
commissioned, its verification wizard will not be displayed. Any displayed verification wizard
can be run at any time, to ensure that its function is working properly.
Prerequisites
l
The robot must be set up and functional.
l
The robot must use eMB-40/60R amplifiers.
The MB-40/60R amplifiers do not support these hardware functions, and these wizards
will not run.
l
A PC with ACE software version 3.3.2.10 or later must be connected to the eMB-40/60R.
l
The Front Panel keyswitch must be in Auto mode. See (A) in following graphic.
To Next Page
Loading...
