Appendix D Moving a Robot or Motion Device With the MCP
254 Adept MV Controller User’s Guide, Rev. B
NOTE: This is the most common gripper setup. The gripper
solenoids may be configured so they operate differently (or they
may not be configured at all). Place your robot in a safe location and
cycle the gripper to verify which side of the speed bar opens the
gripper.
1
Tool State
When tool state is selected, movement in the X, Y, or Z direction is along an axis of
the tool coordinate system. The tool coordinate system is centered at the robot tool
flange with the Z axis pointing away from the flange. On most robots, the positive
X axis is aligned with the center of the tool flange keyway. Before the speed bars
will move the robot, an axis of motion must be selected from the manual control
buttons. If X1 is selected, pressing the “+” speed bar will move the robot tool
flange in the positive X direction. Pressing the “–” speed bar will move the flange
in the negative X direction.
In a four-axis robot, positive rotation of the gripper (RZ) is clockwise as viewed
from above.
Figure D-14
shows the tool coordinate system for a four-axis
'-
robot.
Figure D-15
shows the tool coordinate system on a six-axis robot.
NOTE:
Figure D-14
and
Figure D-15
are drawn with the assumption
that the
**0
transformation is set to
/&00
(all values are 0). If a
**0
transformation is in effect, the tool coordinate system will be
offset and rotated by the value of the
**0
transformation. Any
motion in tool state will now be relative to the offset coordinate
system, and not the center of the tool flange. See the V
Language
Reference Guide for details on
**0
transformations.
1
The SPEC utility is used to configure gripper activity. See the
Instructions for Adept
Utility Programs.
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