Calibrate Robot
AdeptSix 300CR Robot Instruction Handbook, Rev. A 73
b. When the High Power push button/light on the Front Panel begins flashing,
press and hold the push button for 1 - 2 seconds. When you release the push
button, the light should remain lit continuously indicating that High Power
has successfully been enabled.
c. If the light does not stay on, the High Power enable process has failed and a
message will be displayed on the monitor and MCP indicating why.
2. Verify that all E-Stop devices are functional (MCP, Front Panel, and user
supplied). Test each mushroom button, safety gate, light curtain, etc., by enabling
High Power and opening the safety device. The High Power push button/light on
the Front Panel should go out and the red HPE/ES LED on the SmartController
should be lit.
7.5 Calibrate Robot
The AdeptSix robot uses optical absolute encoders to determine position of each axis, and
establish commutation reference for the phases of the motors. Since the motors are
brushless AC, the rotor must be commutated by electronics rather that using physical
brushes to switch current from phase to phase. The absolute encoders have the ability to
determine position for a full turn of the motor rotor. Built into the absolute encoder is a
multiple turn counter that keeps track of the number of times the absolute encoder has
completed a full revolution. The encoder system is powered by the Adept PA-4 power
chassis, and also has a battery backup to maintain position tracking during shipment of
the robot, or periods when the system is turned off.
1. Verify that you have enabled power as described above.
2. Enter the following command at the dot prompt in the monitor window:
calibrate
When calibration is complete, the monitor displays the dot prompt. This means
the system is ready for operation.
7.6 Turning Off the System
Follow these steps to turn off power to the robot system.
1. Make sure that robot motion has stopped.
2. Abort any programs that are running using the abort command.
3. Turn off High Power to the robot using the disable power command, or by
pressing the DIS PWR button on the MCP.
4. Turn off DC power to the SmartController.
5. Turn off the AC power switch on the Adept PA-4 power chassis.
