Introduction

This document describes how to recover from a “Check Position” message on the pendant, as shown below.

Recovery Procedure

NOTE: This procedure can be completed at any security level when there are no outstanding alarms.

1. From the Main Menu, select “Robot Settings” and then “Robot Configuration.”

• Default position on all axes is 0.000 degrees. The orientation of the robot/station will vary based upon model. Be sure to have the Position Setup tab selected and the “Robot Position” drop down menu reads “Robot Position Confirm.”
• SPECIFIED position can be modified if needed to accommodate for cell layout

2. With Servos engaged, press and hold “Go To Position” until all axes read “Axis Reached.”

• Robot will move to the SPECIFIED position.
• Use caution when moving the robot. Be aware of possible interference.
• Manual JOINT jogging may be required to avoid interferences to complete motion to the SPECIFIED position.
• Cartesian motion (Robot, User, and Tool) may not work with Check Position message.

3. Press the “Confirm Position” button. There will be a confirmation popup window and the box below Robot Position Confirm will change to “Confirmed.”

4. If this is a single robot without an external axis, proceed to step 7. Controllers with multiple groups(robot(s) and/or station(s)), continue with step 5.

5. Confirm origin of Check position, highlighted in message.

6. Use the Control Group on the lower jog screen to select the group highlighted in the message.

7. Engage servos and hold the FWD key until all robot’s axes reads “Axis Reached”

• Robot will move to SPECIFIED position.
• Use caution when moving the robot. Be aware of possible interference.
• Manual JOINT jogging may be required to avoid interferences to complete motion to the SPECIFIED position
• Cartesian motion (Robot, User, and Tool) may not work with Check Position message.

8. Press Confirm Position. There will be a confirmation popup window and box below Robot Position Confirm will change to Confirmed.

9. If the Check Position message remains, multiple groups may need confirmed. Repeat steps with remaining group(s) requiring position check.