Tool State; Figure C-14. World State (Four-Axis Scara) - adept technology Adept RS-232/TERM User Manual

Appendix C - Using the Manual Control Pendant (MCP)
+Z
The T button cycles the gripper solenoids. Press anywhere on the "+" side of the speed
1
bar to open the gripper, on the "–" side to close the gripper.
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. (The SPEC utility
is used to configure gripper activity. See the
Utility Programs.)

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 C-15
Figure C-16 shows the tool coordinate system on a six-axis robot.
144
+RZ (CCW)
+Y
+X

Figure C-14. WORLD State (Four-Axis SCARA)

shows the tool coordinate system for a four-axis SCARA robot.
Adept SmartController User's Guide, Rev. E
X
X direction
1
Y
Y direction
2
Z
Z direction
3
RX
4
RY
5
RZ
Rotation
6
T 1
Gripper Activity
STEP
Instructions for Adept