Using the Command Line CALIBRATE The motion device will proceed through a series of motions to verify its current location and the state of its position encoders. Once the calibration procedure is complete, robot control programs can be executed. The calibration procedure is not required for the following: l All Viper robots, the Cobra 350 robot, and Quattro robots. The auto-calibrate bit has been set for these robots, which causes these robots to be automatically calibrated when the system is turned on. Therefore, it is not necessary to use the CALIBRATE command with these robots. l Systems (such as stand-alone vision systems) that do not have an attached motion device.
To Reenable Power After an Emergency Shutdown When a PANIC button is pressed or other emergency stop switch is tripped, HIGH POWER is immediately removed from the motion device. Power is also removed from the device if a servo error is reported. For example, a servo error occurs if the motion device cannot attain a desired location (for example, if the device runs into something). Before the motion device can be used again, you must enter the command: ENABLE POWER You do NOT have to reissue the CALIBRATE command. NOTE: You can also enable power by pressing the Robot Power button on the pendant. 1 This switch provides terminals for the user to connect an AC power source.
If this option is not used on your system, the switch will be inactive. Using the Command Line There are two ways to communicate with the eV+ system: through the ACE graphical interface, and with the eV+ command line (typing commands directly at the eV+ system prompt). For more details on the eV+ system prompt, see The System Prompt and Typing Cursor on page 26. By entering Monitor commands at the eV+ system prompt you can: l Load program files and execute the programs l Display system status l Change certain characteristics of operating system behavior NOTE: Many of the commands, formerly available only through the command line, are now more easily accessed through the ACE interface.
However, you can still reach the eV+Operating System User's Guide, v2.x, 18320-000 Rev A Page 25