11.5 Initialization Screen
Before starting up the robot arm, it is very important to verify that both the active
payload and the active installation correspond to the actual situation the robot arm
is currently in.
Initializing the robot arm
DANGER:
Always verify that the actual payload and installation are correct
before starting up the robot arm. If these settings are wrong, the
robot arm and control box will not function correctly and may be-
come dangerous to people or equipment around them.
CAUTION:
Great care should be taken if the robot arm is touching an obstacle
or table, since driving the robot arm into the obstacle might dam-
age a joint gearbox.
The large button with the green icon on it serves to perform the actual initialization
of the robot arm. The text on it, and the action it performs, change depending on
the current state of the robot arm.
• After the controller PC boots up, the button needs to be tapped once to power
the robot arm on. The robot arm state then turns to Power on and subsequently
to Idle. Note that when an emergency stop is in place, the robot arm cannot be
powered on, so the button will be disabled.
• When the robot arm state is Idle, the button needs to be tapped once again
to start the robot arm up. At this point, sensor data is checked against the
configured mounting of the robot arm. If a mismatch is found (with a tolerance
of 30
◦
), the button is disabled and an error message is displayed below it.
If the mounting verification passes, tapping the button releases all joint brakes
and the robot arm becomes ready for normal operation. Note that the robot
makes a sound and moves a little while releasing the brakes.
• If the robot arm violates one of the safety limits after it starts up, it operates in a
special Recovery mode. In this mode, tapping the button switches to a recovery
move screen where the robot arm can be moved back within the safety limits.
• If a fault occurs, the controller can be restarted using the button.
• If the controller is currently not running, tapping the button starts it.
Finally, the smaller button with the red icon on it serves to power off the robot arm.
CB3 II-30 Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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