Robot States; World State - adept technology MV User Manual

Appendix D

Robot States

World State

When world state is selected, movement in the X, Y, or Z direction is parallel to an
axis of the world coordinate system. Before the speed bars will move the robot, an
axis of motion must be selected from the manual control buttons. The world
coordinate system for a SCARA robot is shown in
pressing the "+" speed bar will move the robot tool flange in the positive X
direction. Pressing the "–" speed bar will move the flange in the negative X
direction.
+Z
The T button cycles the gripper solenoids. Press anywhere on the "+" side of the
1
speed bar to open the gripper, on the "–" side to close the gripper.
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Moving a Robot or Motion Device With the MCP
(CCW)
+RZ (CCW)
+Y
+X
Figure D-13. WORLD State (Four-Axis SCARA)
Adept MV Controller User's Guide, Rev. B
Figure D-13. If X1 is selected,
X direction
X
X direction
1
Y
Y direction
Y direction
2
Z
Z direction
Z direction
3
RX
4
RY
5
RZ
Rotation
Rotation
6
T 1
Gripper Activity
Gripper activity
STEP
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