Chapter 7: Maintenance
From within the ACE software:
1.
Open the robot object editor.
Double-click on the robot object in the tree structure, usually the left pane.
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.
4.
Click Finish.
5.
If the SmartController does not reboot, cycle power on the SmartController.
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
eMB-40/60R, remove it before you start this procedure.
Automatic Mode Procedure
WARNING: 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.
Double-click on the robot object in the tree structure, usually the left pane.
2.
Select Configure > Safety Settings > Verify Teach Restrict, then click Next.
3.
Teach a Start Position.
NOTE: This procedure will move the robot approximately ±5 degrees
from the starting point of each joint.
This can be any position that does not conflict with obstacles or the limits of joint move-
ments.
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 111
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