Chapter 5: System Operation Enabling High Power NOTE : If you are controlling the robot with a PLC, see Options on page 85. After you have started the ACE software and connected to the controller, enable high power to the robot motors: 1. From the ACE main menu, click the Enable High Power icon: 2. If the High Power button on the Front Panel is blinking, press and release it. The optional Front Panel is shown in Optional Front Panel on page 68. (If the button stops blinking, you must Enable Power again.) NOTE: The use of the blinking High Power button can be configured (or eliminated) in software. Your system may not require this step. WARNING:
Disabling the High Power button violates IEC 60204-1. It is strongly recommended that you not alter the use of the High Power button. This step turns on high power to the robot motors and calibrates the robot. l The Robot Status LED glows amber. l The code on the Robot Diagnostic Panel displays ON (see Robot Status Dis- play Panel on page 65). Verifying E-Stop Functions Verify that all E-Stop devices are functional (pendant, Front Panel, and user-supplied). Test each mushroom button, safety gate, light curtain, etc., by enabling high power and then open- ing the safety device. The High Power push button/light on the Front Panel should go out for each.
Aligning the Platform and J4 Motor It is possible for either the motor shaft or the platform shaft to be turned, manually, before the theta drive shaft is connected to both. If not detected, the software may assume the robot’s tool flange is at a different angle than it really is. To ensure that the software knows the actual rota- tion of the tool flange with respect to the J4 motor, you need to use the ACE software to estab- lish this alignment. 1. Within the ACE software, open the Hornet565 robot object. 2. In the Configure tab, click Adjust J4 Zero. This will launch a utility for aligning the theta drive shaft. 3. Follow the instructions in the utility.
Contact Omron Adept Technologies, Inc. for more information on this procedure. Hornet 565 Robot User's Guide, 14608-000 Rev C Page 82 of 156