Appendix D Moving a Robot or Motion Device With the MCP
Adept MV Controller User’s Guide, Rev. B 249
Moving a Robot or Motion Device With the MCP
Introduction
The
.%
is used with a robot or motion device primarily to teach robot locations
for use in application programs. The
.%
is also used with custom applications
that employ teach routines that pause execution at specified points and allow an
operator to teach or reteach the robot locations used by the program. The Adept
AIM software system makes extensive use of the pendant for teaching robot
locations.
When you move the robot using the
.%
, motion will be in world state, tool state,
joint state, or in free state.
When moving in world state, directions are sent from the
.%
to move the robot
in a Cartesian coordinate system centered at the base of the robot. When moving
in tool state, directions are sent from the
.%
to move the robot in a Cartesian
coordinate system centered at the robot’s end-of-arm tooling location.
In joint state, directions are sent from the
.%
to move individual robot joints. In
free state, selected joints of the robot are “freed” from servo control so they can be
moved by hand.
Mode Control Buttons
The mode control buttons, Figure D-11, change the state being used to move the
robot, switch control of the robot between the
.%
and application programs, and
enable
( %
(when necessary).
Figure D-11. Mode Control Buttons
COMP
PWR
RUN
HOLD
MAN
HALT
DIS
PWR
-
Z
3
Y
2
X
1
+
WORLD TOOL JOINT FREE DEV
USER
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