Free State - adept technology MV User Manual

Appendix D

Free State

When free state is selected, individual joints are freed from servo control, and the
robot brakes (if any) are released. Unlike the other states, you can make multiple
selections from the manual control buttons to free as many joints as required. In
some cases, such as Joints 1 and 2 on an
are freed by selecting a single button. On some robots Free mode may have been
disabled by the manufacturer on some or all joints.
As soon as the
manual control buttons, all joints are placed back under servo control and will not
move freely.
Figure D-18 shows the free state for a four-axis
assignments in the free state are the same as the joint assignments in joint state.
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Moving a Robot or Motion Device With the MCP
Joint 4
Joint 4
Joint 5 Joint 5
Joint 6
Joint 6
T 1
Figure D-17. JOINT State (Six-Axis Robot)
*.%3%+-
button is pressed, or another selection is made from the
Adept MV Controller User's Guide, Rev. B
X
1
Y
2
Z
3
RX
Joint 4
Joint 4
4
RY
Joint 5
Joint 5
5
RZ
Joint 6 Joint 6
6
Gripper
T 1
Gripper
STEP
 *3
 
robot, multiple joints
' -
robot. The joint