Appendix D Moving a Robot or Motion Device With the MCP
Adept MV Controller User’s Guide, Rev. B 251
When the
./3(0
button is pressed the first time, the
.%
will be in world
state. Pressing the MAN/HALT button again selects the next state to the right
(tool, joint, free), eventually wrapping back to the leftmost state (world). If
manual mode is terminated and reentered (without turning off system power) the
last active state is selected.
DIS PWR Button
The Disable Power button will shut down High Power to the robot or motion
device when pressed. Unlike the Emergency Stop Button, the Disable Power
Button initiates a controlled stop, where the robot is decelerated under software
control. After the robot has stopped, power is turned off.
RUN/HOLD
When the RUN/HOLD button is initially pressed, it will stop the robot and pause
the executing program (task 0). If you then press and hold down the button, the
program proceeds until the button is released. When the button is released, the
robot stops and the executing program pauses until the button is pressed again.
Joint/Axis Control Buttons
The buttons on the far right side are the joint/axis control buttons. When the MCP
is in manual mode, these buttons select which robot joint will move, or the
coordinate axis along which the robot will move. The X/1, Y/2, Z/3, RX/4, RY/5,
and RZ/6 buttons are covered starting on page 253. (The MCP must be in manual
mode before a joint/axis control button can be selected.)
STEP Button
When the CIP keyswitch is set to
./&0
, V
+
programs cannot initiate motions
unless you press the
button and speed bar on the MCP. To continue the
motion once it has started, you can release the
button but must continue to
press the speed bar. Failure to operate the
button and the speed bar properly
results in the following error message:
Once a motion has started in this mode, releasing the speed bar also terminates
any belt tracking or motion defined by an ALTER program instruction.
Motions started in this mode have their maximum speeds limited to those defined
for manual control mode.
As an additional safeguard, when High Power is enabled and the CIP switch is set
to
, the MCP is set to
mode, not
or
mode.
Programs designed to move the robot in manual mode should read the status of
the step and speed bar before starting the move. The program should prompt the
user as required.
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