Robotics Review - Section 8 through 11

HOW DO YOU CLEAR A SINGULARITY?

• Reset

• ESC

• MOVE JOINT 5 +/- 10 DEGREES

• MOVE JOINT 15 +/- 20 DEGREES

HOW ARE FAULTS CLEARED?

• Reset

• MOVE JOINT 5 +/- 10 DEGREES

• DEADMAN, SHIFT, RESET TOGETHER

• Back

HOW DO YOU CHOSE A JOG MODE?

• Reset

• MOVE JOINT 5 +/- 10 DEGREES

• DEADMAN, SHIFT, RESET TOGETHER

• COORDINATE KEY

One way to verify the robot is mastered

• HOME

• JOG IN JOINT MODE AND LINE UP THE MARKS FOR ALL 6 JOINTS.

• HIT "POSN" KEY AND JOG IN JOINT MODE TO GET ALL ANGLES NEAR ZERO FOR EACH AXIS.

• COORD

A 2ND WAY TO VERIFY MASTERING WITH THE TEACH PENDANT BY ITSELF?

• HOME

• JOG IN JOINT MODE AND LINE UP THE MARKS FOR ALL 6 JOINTS.

• RESET

• HIT "POSN" KEY AND JOG IN JOINT MODE TO GET ALL ANGLES NEAR ZERO FOR EACH AXIS.

HOW DO WE VIEW AXIS LIMITS?

• HIT "COORD", "NEXT", "SYSTEM", "AXIS LIMITS"

• HIT "Select", "NEXT", "SYSTEM", "AXIS LIMITS"

• HIT "MENU", "NEXT", "SYSTEM", "AXIS LIMITS"

• HIT "Edit", "NEXT", "SYSTEM", "AXIS LIMITS"

WHY DO WE CARE ABOUT AXIS LIMITS AND WHAT THEY ARE SET AT?

• WE DON'T

• SO WE DON'T HIT OBJECTS AND HAVE A DEFINED WORK ENVELOPE

• TO PREVENT A SINGULARITY

• TO KNOW WHERE YOU ARE MOVING THE ROBOT

HOW DO WE VIEW THE VERSION IDENTIFICATION?

• HIT "NEXT", "STATUS", "VERSION ID"

• HIT "DATA", "NEXT", "STATUS", "VERSION ID"

• HIT "SELECT", "NEXT", "STATUS", "VERSION ID"

• HIT "MENU", "NEXT", "STATUS", "VERSION ID"

What is the correct way to recover from a DCS Joint Position Check alarm. 

• Press SHIFT + RESET
• Cycle robot power.
• Cold start the robot.
• Press RESET DCS ALARM on the FUNCTION Menu.

Fault Indicator

• Applies robot brakes and removes power from motors

• Indicates that a fault has occured

• Clears a fault message from the teach pendant screen when it has been corrected

• Selects either AUTO, T1, or T2 mode

• When lit, indicates the controller is on