Adept Cobra s600/s800 Robot User's Guide - pulsar.com.tr

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Chapter 11 - Dual <strong>Robot</strong> Systems 9. System will return with a “dot” (.) prompt, if everything was successful, then high power will be enabled, and the diagnostics panel display will read “OK.” 10. System is ready for operation. 11.7 Operation With the Manual Control Pendant (MCP) The optional MCP can be used to control either robot in a dual robot system. By default, the MCP controls robot 1. To switch to robot 2, press the DEV/F3 button on the MCP. The DEV LED turns on in this condition. To switch back to robot 1, press the DEV/F3 button again. The DEV LED turns off. See the <strong>Adept</strong> SmartController User’s <strong>Guide</strong> for more information on using the MCP. 11.8 Programming Information V + Language Programming By default, Task 0 is used to control robot 1. Task 1 is normally re<strong>com</strong>mended for robot 2. Use the SELECT ROBOT=2 and ATTACH instructions in your program to select robot 2. See the V+ Language User’s <strong>Guide</strong> and the V+ Language Reference <strong>Guide</strong> for more information on these instructions. V + Monitor Commands By default, monitor <strong>com</strong>mands such as HERE and WHERE apply to robot 1. Use the monitor <strong>com</strong>mand SELECT ROBOT=2 first when you need to display the location of robot 2. NOTE: The DISABLE POWER <strong>com</strong>mand shuts off high power to both robots in a dual robot system. The CALIBRATE monitor <strong>com</strong>mand will calibrate both robots. <strong>Robot</strong> 1 will be calibrated first, then robot 2. You can temporarily disable either robot and continue to use the other, by using the DISABLE ROBOT[ ] <strong>com</strong>mand. For example DISABLE ROBOT[2] will cause V + to ignore robot 2. If you issue this <strong>com</strong>mand before you use the CALIBRATE <strong>com</strong>mand, then only one robot will be calibrated. <strong>Robot</strong> 1 can be then used normally. To re-enable robot 2, use the <strong>com</strong>mand ENABLE ROBOT[2]. 138 <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C
Emergency Stop Circuit Shuts Off Both <strong>Robot</strong>s 11.9 Emergency Stop Circuit Shuts Off Both <strong>Robot</strong>s The <strong>Adept</strong> SmartController has an Emergency Stop circuit that is designed to safely stop both robots simultaneously in the event of a problem. The <strong>Adept</strong> multi-robot system is designed for multiple robots operating in the same workcell. Therefore, if one robot has a fault, the other robot will also be stopped. A brief message will be displayed, indicating the problem. The message will also state which joint(s) and which robot is affected. The most <strong>com</strong>mon system messages are described in the V+ Operating System User’s <strong>Guide</strong>. A full list of system messages with <strong>com</strong>plete explanation and suggested user actions is in the V+ Language Reference <strong>Guide</strong>. Examples of faults that can be detected by the <strong>Adept</strong> control system are *Hard envelope error*, *Soft envelope error*, and *Motor stalled*. Any of these messages may mean that a robot has collided with an unexpected object in the workspace, therefore, both robots will be stopped. The Emergency Stop signal stops both robots connected to the same controller. It is not possible to use the E-Stop signal to stop only one robot. The Emergency Stop switches on the Front Panel and the MCP shut off high power to both robots when the switch is pressed. <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C 139
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Adept Cobra s600/s800 Robot User's Guide - pulsar.com.tr

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