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Selecting Joint State and Moving the Robot
Figure 4-6 shows a typical Adept SCARA robot with three rotational joints (Joints 1, 2, and
4) and one translational joint (Joint 3). Positive rotation of Joints 1 and 2 is
counter-clockwise as viewed from above. Positive rotation of Joint 4 is clockwise as
viewed from above. Positive movement of Joint 3 is downward. Before the speed bars will
move a joint, the correct joint must be selected from the Joint/Axis control buttons.
Joint 1
In Joint State, only the selected joint moves. After the calibration of the robot, switching
into Manual mode and re-enabling High Power, you must select the joint mode.
1. Press the
MAN/HALT
The MCP is in the correct mode when:
a. The LED on the
press the
b. One of the manual state LEDs is also illuminated (the "Manual state" LEDs
indicate the type of manual motion that has been selected, either World, Tool,
Joint, or Free).
2. Press the
MAN/HALT
illuminated.
When the LED on the
and movement of a specified joint must be selected.
Adept 550 Robot Instruction Handbook, Rev A
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Joint 2
Joint 4
Figure 4-6. Joint State (SCARA)
button to enable the MCP.
button is illuminated. If it is not illuminated
MAN/HALT
button.
MAN/HALT
button (see Figure 4-4) several times until the
button and the
MAN/HALT
Moving the Robot with the MCP
X
Joint 1
1
Y
Joint 2
2
Joint 3
Z
Joint 3
3
RX
Joint 4
4
RY
5
RZ
6
T
1
STEP
LED are lit, Joint state is selected
JOINT
LED is
JOINT
69
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