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Chapter 4 - Commissioning the System
MAN/HALT Button for Selecting Joint State
The
button changes the state being used to move the robot.
MAN/HALT
The system will remain in MCP Manual mode until High Power is turned off, or the
button is pressed.
COMP/PWR
When the
MAN/HALT
Pressing the
MAN/HALT
Free), eventually wrapping back to the left-most state (World). If MCP Manual mode is
terminated and re-entered (without turning off system power) the last active state is
selected.
Joint/Axis Control Buttons
The buttons on the far right side are the Joint/Axis control buttons, see Figure 4-2 on
page 64. When the controller is in Manual mode, these buttons select which robot joint
will move, or the coordinate axis along which the robot will move.
Speed Bars
The speed bars are used to control the robot's speed and direction. The joint(s) that will
move when the speed bars are pressed depends on the "state" selected with the
button. Press the speed bars with your left thumb. Pressing the speed bars
MAN/HALT
near the outer ends will move the robot faster, pressing the speed bar near the center will
move the robot slower. The maximum speed of the robot in Manual mode is 250 mm per
second (10 ips).
Fast
68
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WORLD
USER
-
+
Figure 4-4. Mode Control Buttons
button is pressed the first time, the MCP will be in World state.
button again selects the next state to the right (Tool, Joint, or
Slow
WORLD
USER
-
+
HOLD
Fast
Figure 4-5. Speed Bars
Adept 550 Robot Instruction Handbook, Rev A
TOOL
JOINT
FREE
DEV 2
X
1
MAN
HALT
Y
2
DIS
RUN
COMP
Z
PWR
HOLD
PWR
3
TOOL
JOINT
FREE
DEV
X
1
MAN
PANIC
HALT
Y
2
DIS
RUN
COMP
Z
PWR
PWR
3
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