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Using the Brake Release Button
NOTE: Two diagnostics labels, which display the fault codes, are provided
with each system, so that you can place these in a convenient location, for
easier access to diagnostic information.
5.3 Using the Brake Release Button
Brakes
The robot has a braking system which decelerates the robot in an emergency condition,
such as when the emergency stop circuit is open or a robot joint passes its softstop.
Instructions on configuring the Programmable E-Stop delay can be found within the SPEC
section of the Instructions for <strong>Adept</strong> Utility Programs manual. The default setting is
correct for most applications.
The braking system will not prevent you from moving the robot manually once the robot
has stopped (and High Power has been removed).
In addition, Joint 3 has an electromechanical brake. The brake is released when High
Power is enabled. When High Power is turned off, the brake engages and holds the
position of Joint 3.
Brake Release Button
Under some circumstances you may want to manually position Joint 3 on the Z-Axis
without turning on High Power. For such instances, a “Z” Brake Release button is located
above the robot diagnostic panel (see Figure 5-2 on page 72). When system power is on,
pressing this button releases the brake, which allows movement of Joint 3.
If this button is pressed while High Power is on, High Power will automatically shut
down.
CAUTION: When the Brake Release button is pressed, Joint
3 may drop to the bottom of its travel. To prevent possible
damage to the equipment, make sure that Joint 3 is
supported while releasing the brake and verify that the
end-effector or other installed tooling is clear of all
obstructions.
5.4 Commissioning the System
Turning on the robot system for the first time is known as “<strong>com</strong>missioning the system.”
You must follow the steps in this section to safely bring up your robot system. The steps
include:
• Verifying installation, to confirm all tasks have been performed correctly.
• Starting up the system by turning on power for the first time.
• Verifying all E-Stops in the system function correctly.
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 73