Advanced Robot Configuration Advanced Robot Configuration When the robot node is selected in the system tree view, click the Advanced tab to display the advanced configuration options. This page allows you to select options that control E-STOP and calibration behavior. For details on selecting the options, see Select Advanced Configuration Options on page 284. Robot Configuration: Advanced Tab Option Fields ACE User's Guide, 3.6.x, 18316-000 Rev A Page 283 Item Description Retract Z axis on CALIBRATE During calibration of Joint 4, the Z-axis moves slightly.
To protect the tool flange or gripper, select this option to retract the Z-axis before Joint 4 moves during the execution of the CALIBRATE instruction. Break-away E- STOP The Break-away E-STOP function is provided to enable a high power shutdown from the outer link area. For example, it would be used if you want a break- away gripper to shut down robot high power. It essentially lets you disable high power through a user relay circuit inside the robot. This feature is set to OFF at the factory. Check this box to enable the Break-away E-STOP if required. E-STOP reflected on output 1 Select this option to enable the indicator signal for the state of the emergency stop circuits.
The indicator-- Digital Output 1-- is ON when the E-Stop circuits