SAFE_UTL
| File Name | Program Name | File Type | Description |
|---|---|---|---|
|
SAFE_UTL.V2 |
a.safe_utl |
B |
Perform safety tests and commissioning for Adept robots.
|
Overview
This program can be used for two purposes:
-
Test components of the Manual Mode Safety Package (MMSP) and set a software flag to mark the robot as commissioned if all the tests pass.
-
Perform CE Category-3 commissioning process on robots that support Category-3 safety requirements. Set a software flag to mark the robot as commissioned if all tests pass. For details, see AdeptSix Category-3 Commissioning Process.
When the program is loaded, the system automatically determines whether to execute the MMSP process or the AdeptSix Cat-3 process based on the type of safety equipment installed.
Requirements
The items listed below are needed to run the SAFE_UTL program.
-
Adept system controller
-
Adept robot with the MMSP (Cat 3) option
-
V+ system
Usage Considerations
The SAFE_UTL program defines many real-valued and string global variables with the prefixes ca., opt., ts. and tt. that must not be modified by you or by other programs. (All these variables are deleted from memory when the program exits normally or when a DELETE command is used to delete the program from memory, as described earlier.)
Some tests within the SAFE_UTL program may require a second person for assistance.
Certain menu options require the robot to be marked as "Not Commissioned" in order to proceed. If the robot is currently marked as "Commissioned" then the following is displayed (in the selected language):
WARNING: The current robot will be marked as "not commissioned", and will be marked as "commissioned" only after passing "all tests".
Do you want to continue (Y/N)?
Responding Y marks the robot as not commissioned. The robot cannot be operated in manual mode until all commissioning tests are completed and passed.
If the response is N, the system is left unchanged and the program returns to the main menu.
The only menu selection, which can be used to commission a robot, is the "Commissioning tests" option. Selecting and passing each individual commissioning test, by selecting the individual commissioning test menu options, will not mark the robot as commissioned. Individual commissioning tests can be performed on a robot, which is marked as "not commissioned", by selecting the appropriate menu option.
Diagnostic tests can be performed on a robot that is marked as commissioned, by selecting the appropriate menu option. These options can be used on a robot marked as commissioned to verify hardware.
Menu Structure
|
WARNING: All personnel should be outside the safety barrier. All safety gates should be installed and closed. |
To access the SAFE_UTL main menu, follow the Loading and Executing Adept Utility Programs procedure.
A menu is displayed that allows you to select the language you want the program to use. After a language selection is made the main menu is displayed (in the selected language).
Once SAFE_UTL is initialized, the main menu is displayed.
SAFE_UTL Utility Menu
A brief description of each menu item is provided in the table below.
| Menu | Description |
|---|---|
|
Exit |
Exits to the V+ dot prompt. |
|
Performs all tests in the SAFE_UTL utility |
|
Accelerometer1 |
Tests the accelerometer |
B+ Amp Voltage Restrict1 |
Tests the B+ Amp Voltage Restrict circuitry |
CIP E-STOP Functions1 |
Tests the CIP for proper operation |
MCP E-STOP Functions1 |
Tests the MCP E-stop for proper operation |
Brake Holding Force1 |
Checks the brakes to ensure they hold the robot in position. |
|
Diagnostic routine for testing the Accelerometer on a Commissioned robot. |
|
|
Diagnostic routine for testing the B+ Amp Voltage Restrict circuitry on a Commissioned robot. |
|
|
Diagnostic routine for testing the CIP on a Commissioned robot. |
|
|
1. These menu options will prompt the user to mark the robot as "Not Commissioned" in order to continue. |
|
Commissioning tests
NOTE: For a detailed description of these tests, please refer to the robot manual supplied with your system.
Perform all of the following tests.
|
|
WARNING: You must remain outside the robot workcell with all safety barriers closed while conducting these tests. Failure to observe this warning can cause serious injury. |
Accelerometer
The accelerometer is tested to ensure that it is operational. The MANUAL/AUTO and NETWORK key switches are checked by SAFE_UTL.
B+ Amp Voltage Restrict
As this test is started High Power must be enabled as described in the previous test. The voltage restrict circuitry is tested to ensure that it is operational. The robot makes a quick move during the test, joint 3 moving a minimum of and joint 4 moving a minimum of E-Stop. The robot may overshoot slightly.
You can specify points or use the system defaults. Follow the prompts to perform the test.
CIP E-STOP Functions
The CIP High Power button and lamp are tested to ensure that they are operational.
You are asked to test the MANUAL/AUTO and NETWORK keyswitches by changing their position. As the keyswitch position is changed, the program verifies the state. If the test fails, the main menu is displayed.
If the test passes, the High Power state test is performed. If this test passes, the High Power enable test is performed, followed by the E-Stop Button test.
MCP E-STOP Functions
The Enabling switch on the MCP is tested to ensure that it is operational. The test attempts to enable High Power and expects an E-Stop error. If High Power can be switched on, the test fails and an error message is displayed.
Brake Holding Force
The holding force of the brakes is tested to ensure that the robot cannot move when the brakes are engaged. High Power is switched on and joint 1 attempts to move with the brakes engaged, which should cause a failure. You are then directed to test joints 2, 3, and 4 in the same manner.
Accelerometer diagnostic
The accelerometer is tested to ensure that it is operational. This test is provided as a diagnostic test, and will not affect commissioning of the system.
Follow the system prompts to complete this test.
B+ Amp diagnostic
As this test is started High Power must be enabled as described in the previous test. The voltage restrict circuitry is tested to ensure that it is operational. This test is provided as a diagnostic test, and will not affect commissioning of the system. Follow the system prompts to complete this test.
CIP diagnostic
You are asked to test the MANUAL/AUTO and NETWORK keyswitches by changing their position. As the keyswitch position is changed, the program verifies the state. This test is provided as a diagnostic test, and will not affect commissioning of the system. Follow the system prompts to complete this test.
