Moving A Robot Or Motion Device With The Mcp; Introduction; Mode Control Buttons - adept technology MV User Manual

Appendix D

Moving a Robot or Motion Device With the MCP

Introduction

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The is used with a robot or motion device primarily to teach robot locations
for use in application programs. The
that employ teach routines that pause execution at specified points and allow an
operator to teach or reteach the robot locations used by the program. The Adept
AIM software system makes extensive use of the pendant for teaching robot
locations.
When you move the robot using the
joint state, or in free state.
When moving in world state, directions are sent from the
in a Cartesian coordinate system centered at the base of the robot. When moving
in tool state, directions are sent from the
coordinate system centered at the robot's end-of-arm tooling location.
In joint state, directions are sent from the
free state, selected joints of the robot are "freed" from servo control so they can be
moved by hand.

Mode Control Buttons

The mode control buttons,
robot, switch control of the robot between the
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enable
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Moving a Robot or Motion Device With the MCP

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Figure D-11, change the state being used to move the
(when necessary).
WORLD
USER
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Figure D-11. Mode Control Buttons
Adept MV Controller User's Guide, Rev. B
is also used with custom applications
, motion will be in world state, tool state,
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to move the robot in a Cartesian
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to move individual robot joints. In
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and application programs, and
TOOL JOINT FREE DEV
X
1
MAN
HALT
Y
2
DIS
RUN COMP
Z
PWR
HOLD PWR
3
to move the robot
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