Adept Technology ACE Startup 09719000 RevA Feb10 User Manual

							Adept ACE Software Startup Guide, Rev A 09719-000 1
Adept ACE Software
Startup Guide
The Adept ACE software runs on a PC connected to your robot, usually through an Adept 
SmartController motion controller. (The Adept Cobra i600/i800 robots do not use an 
Adept SmartController motion controller, so the PC connects to them directly.)
This guide is written for the Adept Quattro, Adept Cobra, and Adept Viper robots, 
excluding the Adept Cobra i600/i800 robots.
NOTE: The startup of Adept ACE software with those robots is covered in 
the Adept Cobra i600/i800 Robot User’s Guide and Adept Cobra i600/i800 
Robot Quick Setup Guide.
Safety
The robot and controller user ’s guides must be read by all personnel who install, operate, 
or maintain Adept systems, or who work within or near the workcell.
Adept systems are computer-controlled and may activate remote devices under program 
control at times or along paths not anticipated by personnel. It is critical that safeguards 
be in place to prevent personnel from entering the workcell whenever equipment power 
is present.
The robot system integrator, or end-user, must ensure that adequate safeguards, safety 
barriers, light curtains, safety gates, safety floor mats, etc., are installed. The robot 
workcell must be designed according to all applicable local and national standards.WA R N I N G :  The instructions for installation, operation, 
and maintenance given in the robot and controller user ’s 
guides must be strictly observed. 
WA R N I N G :  Adept Technology strictly prohibits 
installation, commissioning, or operation of an Adept 
robot without adequate safeguards according to 
applicable local and national standards. Installations in EU 
and EEA countries must comply with EC regulations. 
						

							Adept ACE Software Startup Guide
2 Adept ACE Software Startup Guide, Rev A 09719-000
How to Get Help
Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on 
getting assistance with your Adept software and hardware. Additionally, you can access 
information sources on Adept’s corporate web site:
http://www.adept.com
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You 
can access the ADL from:
 the Adept Software CD shipped with your system
 the Adept web site. Select Support > Document Library from the Adept home 
page. To go directly to the Adept Document Library, type the following URL into 
your browser:
http://www.adept.com/Main/KE/DATA/adept_search.htm
To locate information on a specific topic, use the Document Library search engine on the 
ADL main page, or select one of the available menu options.
Prerequisites
Adept Hardware
 Adept Quattro, Adept Cobra, or Adept Viper robot
 Adept SmartController CX motion controller
PC Requirements
The hardware and software required to run and use the Adept ACE software are covered 
in the Adept ACE ReadMe file. The ReadMe file is provided with the Adept ACE software 
distribution (in the ZIP file or on the CD-ROM).
Connecting the PC to the SmartController
The Adept SmartController motion controller must be connected to a user-supplied PC or 
the Adept SmartVision EX processor for setup, control, and programming.
 Connect an Ethernet crossover cable between the PC and the SmartController 
motion controller.
 In place of the Ethernet crossover cable, you can also use two standard Ethernet 
cables with a network hub or switch.
NOTE: Do not use an Ethernet crossover cable with a network hub or 
switch.
For more details, refer to the Adept ACE User ’s Guide. 
						

							Installing the Adept ACE Software
Adept ACE Software Startup Guide, Rev A 09719-000 3
Installing the Adept ACE Software
The Adept ACE software is installed from the Adept ACE software CD-ROM.
1. Insert the CD-ROM into the CD-ROM drive of your PC. If Autoplay is enabled, 
the Adept software CD-ROM menu is displayed. If Autoplay is disabled, you will 
need to manually start the CD-ROM.
2. Especially if you are upgrading your Adept ACE software installation: from the 
Adept ACE software CD-ROM menu, click Read Important Information.
3. From the Adept ACE software CD-ROM menu, select:
Install the Adept ACE Software
The Adept ACE Setup wizard opens.
4. Follow the online instructions as you step through the installation process.
5. When the installation is complete, click Finish.
6. After closing the Adept ACE Setup wizard, click Exit on the CD-ROM menu to 
close the menu.
NOTE: You will have to restart the PC after installing the Adept ACE 
software.
Running the Adept ACE Software
Before Starting
Verify that the robot is securely mounted, the system is correctly installed, and that all 
safety equipment is working before going through the system start-up process. For 
details, see your robot users guide.
 
Starting the Robot
Apply power to your system, as described in the following sections:
For the Quattro s650H and s650HS robots, and the Cobra s600, s800, and s800 Inverted 
robots:
1. Switch on AC power to the robot.
2. Switch on 24 VDC power to the robot.
3. Switch on 24 VDC power to the controller.DANGER: After installing the robot, you must test it before 
you use it for the first time. Failure to do this could cause 
death or serious injury or equipment damage. For details, 
see your robot users guide. 
						

							Adept ACE Software Startup Guide
4 Adept ACE Software Startup Guide, Rev A 09719-000For the Cobra s350 robot:
1. Switch on AC power to the MB-40R.
2. Switch on 24 VDC power to the MB-40R.
3. Switch on 24 VDC power to the controller.
For the Viper s650, s850, s1300, and s1700 robots with PA-4:
1. Switch on AC power to the PA-4.
2. Switch on 24 VDC power to the controller.
For the Viper s650 and s850 robots with MB-60R:
1. Switch on AC power to the MB-60R.
2. Switch on 24 VDC power to the MB-60R.
3. Switch on 24 VDC power to the controller.
Starting the Adept ACE Software
The robot should be on, and the status panel should display OK before proceeding.
1. Turn on the PC and start the Adept ACE software.
 Double-click the Adept ACE icon on your Windows desktop
or, from the Windows Start menu bar,
Start > Programs > Adept Technology > Adept ACE > Adept ACE.
2. On the Adept ACE Startup menu, connect to the SmartController motion 
controller, and create a new workspace for the controller.
Enabling High Power
After you have started the Adept ACE software and connected to the controller, enable 
high power to the robot motors:
1. From the Adept ACE main menu, click the Enable High Power icon:  
2. Press and release the blinking High Power button on the
Front Panel. 
NOTE: The Front Panel, P/N 30356-10358, is mounted near the robot. See 
the following figure:
Figure 1. High Power Button on Front Panel
Switch, in 
Auto Mode
Press High Power button
when blinking (within 
10 seconds) 
						

							Running the Adept ACE Software
Adept ACE Software Startup Guide, Rev A 09719-000 5 NOTE: The Front Panel button must be pressed within 10 seconds. If the 
button stops blinking, you must enable power again.
This step turns on high power to the robot motors and calibrates the robot.
 For Quattros, the robot status LED (on the Status Panel) and the lamp on the 
bottom of the robot base glow solid amber.
For Cobras, the robot status LED glows solid amber.
For all Vipers, the amplifier status LED blinks green rapidly
(a slow green blink has a different meaning).
In addition, for IP-65 Vipers, the lamps on the robot glow solid amber.
 The status panel on the robot or amplifier chassis displays ON.
Verifying Robot Operation
 
1. On the Adept ACE toolbar, set the Monitor Speed to 50.
2. Use the Robot Jog Control to verify that the robot moves correctly in all directions. 
To access the Robot Jog Control, on the Adept ACE toolbar, click the Launch 
Robot Jog Control icon:  
The Robot Jog Control opens.
a. Set the jog control Speed to 10%.
b. Comp is the default jog control mode.
Set the jog control mode to World for Quattros.
Set the jog control mode to Joint for Cobras and Vipers.
c. For Quattros, use the jog control to move the robot in all directions.
For robots other than Quattros, move each joint in both directions.
3. The robot is now ready to use. Go to the next section to verify E-Stops.
Verifying E-Stop Functions
Verify that all E-Stop devices are functional (T2 pendant, Front Panel, and user-supplied 
E-Stops). Test each mushroom button, safety gate, light curtain, etc., by enabling High 
Power and then opening the safety device. The High Power push-button/light on the 
Front Panel must go out for each E-Stop. See Figure 1.
Refer to your robot user ’s guide for more details.WA R N I N G :  Make sure that the workspace is clear of 
obstacles, and the robot is free to move. 
						

							Learning to Program an Adept Robot
To learn how to use and program the robot, refer to the Adept ACE User ’s Guide, the 
AdeptSight User ’s Guide, and the V+ manual set, which are available online in the Adept 
Document Library. To access the Adept Document Library, type the following URL into 
your browser:
http://www.adept.com/Main/KE/DATA/adept_search.htm
Copyright 2010, Adept Technology, Inc. All rights reserved.
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P/N: 09719-000, Rev A