Free State; Figure C-18. Joint State (Six-Axis Robot) - adept technology Adept RS-232/TERM User Manual

Appendix C - Using the Manual Control Pendant (MCP)
Figure C-18 shows the joint assignments for a typical six-axis robot (as always, the first
time you move a robot, carefully verify the joint assignments).

Free State

When free state is selected, individual joints are freed from servo control, and the robot
brakes (if any) are released. Unlike the other states, you can make multiple selections from
the manual control buttons to free as many joints as required. In some cases, such as Joints
1 and 2 on an AdeptOne/AdeptThree robot, multiple joints are freed by selecting a single
button. On some robots Free mode may have been disabled by the manufacturer on some
or all joints.
As soon as the COMP/PWR button is pressed, or another selection is made from the
manual control buttons, all joints are placed back under servo control and will not move
freely.
Figure C-19 shows the free state for a four-axis SCARA robot. The joint assignments in the
free state are the same as the joint assignments in joint state.
148
Joint 4
Joint 5
Joint 6
T 1

Figure C-18. JOINT State (Six-Axis Robot)

Adept SmartController User's Guide, Rev. E
X
1
Y
2
Z
3
RX
Joint 4
4
RY
Joint 5
5
RZ
Joint 6
6
Gripper
T 1
STEP