Full Initialization Procedure for C Series Controllers

Do not do the following if you have no backup available.

The accuracy of this procedure cannot be guaranteed, use at your own risk.
By using this procedure, you accept all liability for any losses or damage that may occur.

Part 1: Re-initialize Controller of all settings (Empty configuration).

1. Have recent backup available on PCMCIA or FDD and insert into peripheral.
2. Power OFF Controller.
3. Set Teach Mode switch to Teach, Teach Pendant E/STOP and Teach Lock to ON.
4. Locate 1GA/1HA CPU board and red dipswitch bank.
5. Set dipswitch No. 1 and No. 8 to ON and all remaining to OFF.
6. Power ON Controller.
7. At Initialize question, type in 1 for yes and press enter.
8. At Are you sure question, type in 9894 and press enter.
9. At Memory select, type in required value for memory version of board and press enter, usually 0.
10. At Teach Pendant screen, errors will be available, encoder abnormal, check sum.
11. Ignore errors but reset until only error remaining is check sum.
12. Power OFF Controller.
13. Set dipswitch (that you set in step 4) back to operation setting of No.1 ON and remainder OFF.
14. Power ON Controller.
15. At Teach Pendant screen, only check sum error will be available, reset will not clear, ignore this.
16. Select MENU, AUX 90, you will see Robot Model and Serial No. will be different.

*** Controller re-initialization is complete ***

Part 2: Reload Backup data to restore Controller (Using PCMCIA/FDD method)

1. Insert PCMCIA/FDD medium to correct peripheral (Card Slot on Teach Pendant or separate FDD Unit).
2. At Teach Pendant screen, select MENU, AUX 11 for PC Card or AUX 22 for FDD.
3. Select ALL Data and press return.
4. Displays current directory of inserted medium, select applicable file for to load and press return.
5. Load will now commence.
6. Answer positively to ALL questions asked during the load, Yes, Accept, Force etc.
7. When complete, message will be displayed file load completed (0) errors.
8. Power Cycle Controller (Off=>On).
9. At Teach Pendant Screen, only check sum error is displayed, reset this once to minimize.
10. Select MENU, AUX 78 and select EFFECT and press return.
11. Select F1 for yes and notice ‘normally completed’ message in message window.
12. Press exit to return to main screen.
13. Reset check sum error and Controller should now be free of errors.

*** Controller Reload Complete ***

Part 3: Confirmations (optional, but recommended)

1. Select MENU, AUX 90 and confirm Robot Model and Serial No. match your hardware.
2. Check zeroing values/location appear normal.
3. Check Robot motion is achievable.
4. Move robot to scribe lines to confirm zeroing.
5. Move robot to know location to confirm accuracy.
6. Check Programs are all available.
7. Check IO functionality.
8. Move robot to HOME or your Application start position and confirm.
9. System can be returned to operation (recommend slow speed for first run).

*** Controller Restoration Complete ***