First Boot

Description

The first boot is the initial sequence of actions you can take to configure the robot for the first time after assembly.

This initial sequence requires you to:

  • Power on the robot

  • Insert the serial number

  • Initialize the robot arm

  • Use Freedrive

  • Power down the robot

Failure to verify the payload and installation before starting up the robot arm can lead to injury to personnel and/or property damage.

  • Always verify the actual payload and installation are correct before starting up the robot arm.

Incorrect payload and installation settings prevent the robot arm and Control Box functioning correctly.

  • Always verify the payload and installation setting are correct.

Starting up the robot in lower temperatures can result in lower performance, or stops, due to temperature dependent oil and grease viscosity.

  • Starting up the robot in low temperatures can require a warmup phase.

Powering On the Robot

To power on the robot

Powering on the robot turns on the Control Box and loads the display on the TP screen.

  1. Press the power button on the Teach Pendant to power on the robot.

 

 

Inserting the Serial Number

To insert the serial number

Installing your robot for the first time requires you to enter the serial number on the robot arm.

This procedure is also required when you re-install the software, for example when you install a software update.

 

  1. Select your Control Box.

  2. Add the serial number as it is written on the robot arm.

  3. Tap OK to end.

It can take a few minutes for the start screen to load.

 

 

 

Confirming the Safety Configuration

To confirm the safety configuration

On your first start up, you need to confirm the robot's safety configuration.

  1. Tap Confirm Safety Configuration to confirm the safety configuration.

 

Starting the Robot Arm

To start the robot

Starting the robot arm disengages the braking system, allowing you to start moving the robot arm and to start using PolyScope.

You can follow the progression as the circles in the Initialize box change color.

The Initialize button in the Footer also changes color depending on the status of the robot arm.

  1. At the bottom left of the screen, in the Footer, tap the red Initialize button.

    The initialization starts. A yellow circle displays Robot Active.

    This means the joint brakes are unreleased and the robot arm cannot be moved.

  2. Tap START to release the breaks in the robot arm.

    The initialization continues as the green circles consecutively display Robot in Robot Active, then Brakes Released.

    Sound and slight movements accompany the joint brakes being released.

  3. Tap Exit to remove the Initialize box.

    At this point the green circle displays Robot in Normal Mode.

If the robot arm mounting is verifed, you can tap START to continue releasing all the joint brakes, preparing the robot arm for operation.

The Getting Started screen can be displayed, prompting you to begin programming the robot.

The first time you initialize the robot arm, a Cannot Proceed dialog box can appear.

Select Go to initialization screen to access the Initialize screen.

In the Footer, to the left, the Initialize button indicates the status of the robot arm using colors:

  • Red Power off. The robot arm is in a stopped state.

  • Yellow Idle. The robot arm is on, but not ready for normal operation.

  • Green Normal. The robot arm is on and ready for normal operation.

 

 

Verifying the Robot Arm Mount

To verify the mounting

During the first start up, you may need to verify how the robot arm is mounted.

If the robot arm is mounted on a flat table or floor, no change is needed.

If the mounting of the robot arm is not verified, the Getting Started dialog box appears.

 

  1. Tap Configure Robot Installation

  2. Under General, tap Mounting to display the Robot Mounting and Angle screen.

  3. Use the buttons to the right of the screen to adjust the angles of the robot arm.

    The robot arm can power off to apply your changes.

  4. Repeat the Start up and the Initialize sequences previously described.

 

Adjusting the Robot Arm Mount

Description

Specifying the mounting of the robot arm serves two purposes:

  1. To make the robot arm appear correctly on the PolyScope screen.

  2. To tell the controller about the direction of gravity.

Failure to mount the robot arm correctly can result in frequent stops.
Verify and use the correct installation settings. Save and load the installation files with the program.

If the robot arm is mounted in one of the ways listed below, adjustment is required.

  • ceiling mounted

  • wall mounted

  • mounted at an angle

On the Robot Mounting and Angle screen, use the buttons on the right to set the angle of the robot arm mounting. The first three buttons set the angle as follows:

  • ceiling (180∘)

  • wall (90∘)

  • floor (0∘)

The Tilt buttons set an arbitrary angle.
 

Use the buttons on the lower part of the screen to rotate the mounting of the Robot arm to match the actual mounting.

 

An advanced dynamics model gives the robot arm smooth and precise motions and allows the robot arm to hold itself in Freedrive. For this reason, it is important to mount the robot arm correctly.