Joint State - adept technology MV User Manual

Appendix D
RY

Joint State

When joint state is selected, movement is about the axis of the specified joint.
Figure D-16 shows an Adept
(Joints 1, 2, and 4) and one translational joint (Joint 3). Positive rotation of joints 1
and 2 is counterclockwise 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
manual control buttons.
256
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Moving a Robot or Motion Device With the MCP
RX
T 1
RZ
Figure D-15. TOOL State (Six-Axis Robot)
' -
robot with three rotational joints
Adept MV Controller User's Guide, Rev. B
X
1
Y
2
Z
3
Rotation about
RX
Rotation about
TOOL X axis
4
TOOL X axis
RY Rotation about
Rotation about
5 TOOL Y axis
TOOL Y axis
Rotation about
RZ
Rotation about
TOOL Z axis
6
TOOL Z axis
Gripper
T 1
Gripper activity
STEP