Controlling More Than One Robot - adept technology MV User Manual

Appendix D
WARNING:
buttons, the related joint is free to move (in some cases, multiple
joints may be freed up). In many cases the weight on the joint will be
sufficient to move the joint and cause damage or harm. For example,
when joint 3 on a
to fall to the end of its travel. In articulated robots, multiple links of
the robot may be free to fall when a single joint is freed up. Be
extremely careful when selecting a joint in free mode.
Joint 1
Joint 1

Controlling More Than One Robot

Like the monitor and each program task, the Manual Control Pendant (MCP) can
also have a robot attached. When moving a robot from the MCP or displaying
joint values or world locations by pressing the DISP key, only the currently
selected robot is affected. The robot currently selected by the MCP is shown by
the state of the DEV LED (in the manual state LED group, see
table below describes the conditions:
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Moving a Robot or Motion Device With the MCP
As soon as a joint is selected from the manual control
' -
or Cartesian robot is freed, the joint is free
Joint 2
Joint 2
Joint 4
Joint 4
Figure D-18. FREE State (Four-Axis SCARA)
Adept MV Controller User's Guide, Rev. B
X Joint 1 Free
Joint 1 Free
1
Y
Joint 2 Free
Joint 2 Free
2
Joint 3
Joint 3
Z
Joint 3 Free
Joint 3 Free
3
RX
Joint 4 Free
Joint 4 Free
4
RY
5
RZ
6
Gripper
T 1
Gripper
STEP
Figure D-3). The
259