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Operation
Free Mode
When Free mode is selected, individual joints are released (freed) from servo control, and
the robot brakes (if any) are also released. Unlike the other modes, you can make multiple
selections with the Joint/Axis control buttons to release as many joints as required. In
some cases, such as joints 1 and 2 on an AdeptOne robot, multiple joints are freed by
selecting a single button.
NOTE: On some robots, Free mode may be disabled by the manufacturer
for one or more joints.
As soon as the COMP/PWR button is pressed, or another Mode is selected, all joints are
returned to servo control and will not move freely.
The joint assignments in Free mode are the same as the joint assignments in Joint mode.
See
Figure 4-5 on page
4.7
Edit Function
The Edit function button allows editing of location variables and real variables that are
+
used by V
programs.
REAL Press the REAL soft button and the pendant displays:
SELECT REAL VARIABLE TO EDIT
var1
30
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29.
WARNING:
When a joint is selected using the Joint/Axis
control buttons, the corresponding joint is released and
moves freely (in some mechanisms, multiple joints may be
released). In many cases, the weight on the joint will be
sufficient to move the joint and cause equipment damage
or injury to personnel in the workspace.
For example, when joint 3 on a SCARA or Cartesian robot
is released, the joint is free to fall to the end of its travel. In
articulated robots, multiple links of the robot may be free
to fall when a single joint is released. Therefore, be
extremely careful when selecting a joint in Free mode.
Figure 4-6. EDIT Function Button
var2
var3
var4
Adept T2 Pendant User's Guide, Rev D
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