Robot Setup Procedure

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This procedure explains how to move the Robot to a specific Teach Point to check or change the position. This is helpful when troubleshooting Robot motion problems. Moving the Robot slowly to a Teach Point allows you to closely observe the motion to check for interferences or other problems.

PROCEDURE:

1. Go to the Robot Control Panel and turn the mode keyswitch to the T1 position.
   
   When in T1 mode, the Robot speed is limited to 250 mm/s.
2. Turn the Robot Teach Pendant On/Off switch to the ON position.
3. Pick up the Teach Pendant and verify Tool Frame 1 is selected. Click here for procedure
   
   Checking Teach Points without selecting Tool Frame 1 can cause unexpected Robot movements with the possibility of collisions.
4. Push the TEACH - DATA key to display the Data Position Registers Screen.
5. Push the F1 TYPE key to display the Type 1 selections.
6. Use the arrow keys to highlight Position Reg and push the ENTER key to make the selection active.
7. Push the down arrow key to scroll down to entry 11. All the position registers start at entry 11.
8. The Teach Points for the Robot program are identified by a "t", which stands for Teach Point and the part type identifier, which is a number. All Teach Points with the part type identifier "01" are make up the Robot program for Part 01.
9. To move the Robot to a Teach Position, use the arrow keys to highlight the Teach Point you want the Robot to move to.
10. Continuously hold in one of the the DEADMAN switches located on the back of the Teach Pendant. The DEADMAN switch is a 3-position switch and must be held in the middle position (1st click). Robot motion is not allowed if the switch is released or fully compressed.
11. While holding the DEADMAN switch in the middle position, push the RESET key. Wait a few moments for any faults to clear. Once cleared, the Fault box will turn from red to green.
12. Push and hold either SHIFT key.
13. Then, push and hold the F2 MOVE TO key. The Robot will begin moving to the Teach Point.
    
    To stop the robot immediately any time during the motion, release the DEADMAN switch or the SHIFT key.
    
    Make sure you push the F2 MOVE key. If you inadvertently push the F3 RECORD key, the current Robot position will be overwritten to the selected Teach Point!
14. The Robot speed can be increased or decreased while the Robot is moving by pushing the +% or -% keys.
15. The BUSY box located in the upper left hand corner of the screen will turn green while the Robot is in motion. Once it turns back to yellow, the Robot has completed its motion and the pendant buttons can be released.
16. Inspect the current Teach Point position to verify the position is correct.
17. Once all checks have been completed, return the Robot to Teach Point 1.
18. Turn the teach pendant On/Off switch to the OFF position
19. Hang the Teach Pendant on the hook provided, exit the cell and close the Teach Door.
20. Go to the Robot Control Panel and turn the mode keyswitch to the AUTO position.
21. Go to the Robot Main Electrical Panel and push the POWER ON RESET pushbutton.