User`s guide

Chapter 5: Maintenance
The robot will move each joint, in succession. It will generate an over-speed
condition for each, and verify that the hardware detected the over-speed
condition.
4.
Click Next, to proceed to the Manual Mode Procedure.
If the Automatic Mode Procedure fails, you will not be allowed to proceed with the
Manual Mode.
Manual Mode Procedure
The manual mode of this verification requires the use of an Adept pendant.
For this verification, the Front Panel keyswitch must be in Manual mode.
1.
From the Introduction screen, click Next.
l
Set the pendant to Joint mode.
l
Set the pendant manual control speed to 100.
2.
Click Next.
3.
Using the pendant, jog any of the robot's joints until power is disabled.
This indicates that the Teach Restrict function is working.
4.
Click Next.
The results of the verification will be displayed.
5.
Click Finish.
6.
Reboot the robot controller.
7.
Reset the Front Panel keyswitch to Auto mode.
5.9 Replacing the Encoder Battery Pack
The data stored by the encoders is protected by a 3.6 V lithium backup battery pack located in
the base of the robot.
CAUTION:Replace the battery pack only with a 3.6 V,
6.8 Ah lithium battery pack, Adept P/N 09977-000.
NOTE:The previous battery, P/N 02704-000, has been superseded by this battery
pack. The battery replacement interval and procedure have not changed.
Battery Replacement Time Periods
If the robot is kept in storage and not in production, or the robot is turned off (no 24 VDC
supply) most of the time, then the battery should be replaced every 5 years.
If the robot is turned on with 24 VDC supplied to the robot more than half the time, then you
can increase the replacement interval to a maximum of 10 years.
Adept Cobra ePLC600/800 Robot, User’s Guide, Rev A
Page 66 of 108