User`s guide

Chapter 5 - System Operation
76 Adept Quattro s650H Robot User’s Guide, Rev A
9. If you do not hear a click in the previous step, you must explicitly calibrate the
robot:
CAL <
ENTER>
10. The system returns a “dot” (.) prompt if everything is successful, then high power
is enabled, and the status panel displays “OK.”
The system is ready for operation.
NOTE: You may receive an “exception overrun” or “obstacle detected”
error if the platform is not in the robot work envelope or is disconnected
from the robot base. If so, disable power (by typing “DIS POW” at the V+
dot prompt), release the brakes, and move the platform into the work
envelope.
Verifying E-Stop Functions
Verify that all E-Stop devices are functional (pendant, front panel, and user-supplied).
Test each mushroom button, safety gate, light curtain, etc., by enabling high power, and
then opening the safety device. The High Power push button/light on the front panel
should go out.
Verifying Robot Motions
Use the pendant (if purchased) to verify that the robot moves correctly. Refer to the Adept
T1 (or T2) Pendant User’s Guide for complete instructions on using the pendant.
The Adept Quattro s650H robot is a parallel-arm robot and, as such, individual joint
motions are not allowed. If you attempt to move a joint in Joint mode, you will get an
error message:
JOINT <n> OUT OF RANGE
where <n> is the joint that you attempted to move.
NOTE: All joint numbers correspond to the number embossed on the
bottom of the base.
If one joint must be moved separately, release the brakes (while supporting the platform)
and move the joint manually.
5.7 Quattro Motions
Straight-line Motion
Joint-interpolated motion is not possible with the Adept Quattro s650H robot, because the
positions of all the joints must always be coordinated in order to maintain the connections
to the moving platform. Therefore, for the Adept Quattro s650H robot, the V+ system
automatically performs a straight-line motion when a joint-interpolated motion
instruction is encountered.