Chapter 10 - Dual Robot Systems
148
Adept Cobra s800 Inverted Robot User’s Guide, Rev C
NOTE:
The robots will move slightly, with less than a 1.5 degree rotation
of J4, and you might hear an audible click from the J3 brake releasing
when calibration is executed. The robots are now servoing all motors to
remain in position at all times.
Once the calibration is complete, the system will return with a “dot” (‘.’)
prompt, if everything was successful. Then high power will be enabled, and
the status panel display will read “OK.”
The system is ready for operation.
10.7 Operating with an Adept Pendant
The optional Adept manual control pendant can be used to control either robot in a dual
robot system. By default, the pendant controls robot 1. To switch to robot 2, press the
DEV/F3 button on the pendant. The DEV LED turns on in this condition.
To switch back to robot 1, press the DEV/F3 button again. The DEV LED turns off.
See the
Adept T1 Pendant User’s Guide
for complete information on using the T1 pendant.
NOTE:
When using a pendant, either the Adept T1 Pendant or the MCP4,
with an Adept robot, the Free Mode is disabled for safety reasons.
10.8 Programming Information
V
+
Language Programming
By default, Task 0 is used to control robot 1. Task 1 is normally recommended for robot 2.
Use the SELECT ROBOT=2 and ATTACH instructions in your program to select robot 2.
See the
for more
information on these instructions.
V
+
Monitor Commands
By default, monitor commands such as HERE and WHERE apply to robot 1. Use the
monitor command SELECT ROBOT=2 first when you need to display the location of robot
2.
NOTE:
The DISABLE POWER command shuts off high power to both
robots in a dual robot system.
The CALIBRATE monitor command will calibrate both robots. Robot 1 will be calibrated
first, then robot 2.
You can temporarily disable either robot and continue to use the other, by using the
DISABLE ROBOT[ ] command. For example DISABLE ROBOT[2] will cause V
+
to ignore
robot 2. If you issue this command before you use the CALIBRATE command, then only
one robot will be calibrated. Robot 1 can be then used normally. To re-enable robot 2, use
the command ENABLE ROBOT[2].
