adept technology MV - Page 256

Appendix D Moving a Robot or Motion Device With the MCP
Adept MV Controller User’s Guide, Rev. B 255
Figure D-14. TOOL State (Four-Axis SCARA)
T
1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
X direction
Y direction
Z direction
Rotation about
Tool Z axis
Gripper
+X
+Y
+RZ
Keyway
+Z
+X
+Y
+
STEP
X direction
Y direction
Z direction
Rotation about Tool
Z axis
Gripper activity
Keyway
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com