Adept Cobra s600/s800 Robot User's Guide - pulsar.com.tr
Adept Cobra s600/s800 Robot User's Guide - pulsar.com.tr
Adept Cobra s600/s800 Robot User's Guide - pulsar.com.tr
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Emergency Stop Circuit Shuts Off Both <s<strong>tr</strong>ong>Robot</s<strong>tr</strong>ong>s<br />
11.9 Emergency Stop Circuit Shuts Off Both <s<strong>tr</strong>ong>Robot</s<strong>tr</strong>ong>s<br />
The <s<strong>tr</strong>ong>Adept</s<strong>tr</strong>ong> SmartCon<strong>tr</strong>oller has an Emergency Stop circuit that is designed to safely stop<br />
both robots simultaneously in the event of a problem. The <s<strong>tr</strong>ong>Adept</s<strong>tr</strong>ong> multi-robot system is<br />
designed for multiple robots operating in the same workcell. Therefore, if one robot has a<br />
fault, the other robot will also be stopped. A brief message will be displayed, indicating<br />
the problem. The message will also state which joint(s) and which robot is affected. The<br />
most <s<strong>tr</strong>ong>com</s<strong>tr</strong>ong>mon system messages are described in the V+ Operating System User’s <s<strong>tr</strong>ong>Guide</s<strong>tr</strong>ong>.<br />
A full list of system messages with <s<strong>tr</strong>ong>com</s<strong>tr</strong>ong>plete explanation and suggested user actions is in<br />
the V+ Language Reference <s<strong>tr</strong>ong>Guide</s<strong>tr</strong>ong>.<br />
Examples of faults that can be detected by the <s<strong>tr</strong>ong>Adept</s<strong>tr</strong>ong> con<strong>tr</strong>ol system are *Hard envelope<br />
error*, *Soft envelope error*, and *Motor stalled*. Any of these messages may mean that a<br />
robot has collided with an unexpected object in the workspace, therefore, both robots will<br />
be stopped.<br />
The Emergency Stop signal stops both robots connected to the same con<strong>tr</strong>oller. It is not<br />
possible to use the E-Stop signal to stop only one robot. The Emergency Stop switches on<br />
the Front Panel and the MCP shut off high power to both robots when the switch is<br />
pressed.<br />
<s<strong>tr</strong>ong>Adept</s<strong>tr</strong>ong> <s<strong>tr</strong>ong>Cobra</s<strong>tr</strong>ong> <s<strong>tr</strong>ong>s600</s<strong>tr</strong>ong>/<s<strong>tr</strong>ong>s800</s<strong>tr</strong>ong> <s<strong>tr</strong>ong>Robot</s<strong>tr</strong>ong> User’s <s<strong>tr</strong>ong>Guide</s<strong>tr</strong>ong>, Rev C 139