Dis Pwr Button; Run/Hold; Joint/Axis Control Buttons; Step Button - adept technology MV User Manual

Appendix D
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When the
state. Pressing the MAN/HALT button again selects the next state to the right
(tool, joint, free), eventually wrapping back to the leftmost state (world). If
manual mode is terminated and reentered (without turning off system power) the
last active state is selected.

DIS PWR Button

The Disable Power button will shut down High Power to the robot or motion
device when pressed. Unlike the Emergency Stop Button, the Disable Power
Button initiates a controlled stop, where the robot is decelerated under software
control. After the robot has stopped, power is turned off.

RUN/HOLD

When the RUN/HOLD button is initially pressed, it will stop the robot and pause
the executing program (task 0). If you then press and hold down the button, the
program proceeds until the button is released. When the button is released, the
robot stops and the executing program pauses until the button is pressed again.

Joint/Axis Control Buttons

The buttons on the far right side are the joint/axis control buttons. When the MCP
is in manual mode, these buttons select which robot joint will move, or the
coordinate axis along which the robot will move. The X/1, Y/2, Z/3, RX/4, RY/5,
and RZ/6 buttons are covered starting on
mode before a joint/axis control button can be selected.)

STEP Button

When the CIP keyswitch is set to
unless you press the
motion once it has started, you can release the
press the speed bar. Failure to operate the
results in the following error message:
Once a motion has started in this mode, releasing the speed bar also terminates
any belt tracking or motion defined by an ALTER program instruction.
Motions started in this mode have their maximum speeds limited to those defined
for manual control mode.
As an additional safeguard, when High Power is enabled and the CIP switch is set
to , the MCP is set to
Programs designed to move the robot in manual mode should read the status of
the step and speed bar before starting the move. The program should prompt the
user as required.
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Moving a Robot or Motion Device With the MCP
button is pressed the first time, the
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button and speed bar on the MCP. To continue the

 mode, not
Adept MV Controller User's Guide, Rev. B
. %
will be in world
page 253. (The MCP must be in manual
+
, V programs cannot initiate motions
 button but must continue to
 button and the speed bar properly
  or mode.
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