Appendix D MCP Predefined Functions
Adept MV Controller User’s Guide, Rev. B 243
Loc Press the
0*
soft button and the
06
displays:
SELECT LOCATION VARIABLE TO EDIT
loc1 loc2 loc3 loc4 <MORE>
Press the soft button under the variable name to edit that variable. The <
.*-,
>
soft button is shown only when there are more than five global location variables
in system memory. When a variable has been selected, the
06
will show:
1
loc.name: X = 500
CHANGE NEXT HERE
If a precision point is selected, the LCD will show:
#loc.name: Jt1 = –210
CHANGE NEXT HERE
Press the
(/),
soft button to change the displayed component of the location
variable. The value will disappear and be replaced with the typing cursor. Use the
data entry buttons to enter a new value, and complete the entry by pressing
-,36*/,
.
Press the
/,=
soft button to show the next component of the location variable.
The location’s X, Y, Z, y, p, and r values will be shown in succession. X, Y, and Z
values are given in millimeters; y, p, and r values are given in degrees. If a
precision point is being edited, the joint values for all the joints in the robot will be
shown in succession.
Press the
(,-,
soft button to record the current robot location in the variable
being edited.
WARNING: Be extremely careful when changing location values.
When the robot moves to a modified location, it could damage
equipment in the workcell.
1
If the variable being edited is from an array, an additional soft button is displayed that allows
you to specify the index of the variable to edit.
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