Robots With Fewer Than Six Joints; Robots With More Than Six Joints - adept technology MV User Manual

Appendix D
The MCP selection cycles from one robot to the next each time the DEV/F3 key is
pressed. Be careful when recording positions with the MCP; the position recorded
by HERE or TEACH commands depends on the robot that is currently selected by
the monitor or program and not on the robot selected by the MCP. The following
commands will allow you to teach the position of robot 2 regardless of which
robot is selected by the MCP.
.SELECT ROBOT = 2
.TEACH p[1]

Robots With Fewer Than Six Joints

The MCP has six axis/joint selection buttons. In Cartesian modes (WORLD,
TOOL), these correspond to all six possible Cartesian values: X, Y, Z, RX, RY, RZ.
Not all mechanisms can move in all of these coordinates. For example, a 4-axis
SCARA robot can move in only X, Y, Z and RZ. Buttons that have no effect on
your robot are ignored and in some cases cannot be selected.

Robots With More Than Six Joints

In JOINT mode, each of the six buttons is used to control a specific joint of the
robot. If the robot has more than six joints, the F2/J7-J12 key can be used to access
the 7th to 12th joints. Only the robot currently selected by the MCP is affected.
The currently selected joint is shown by the state of the LED on the joint/axis key
as described below. If you press the key for joint 1, and the LED is steady, you are
controlling Joint 1. If you press F2/J7-J12, then press the key for joint 1, the LED
will flash, indicating that you are controlling Joint 7.
The MCP cycles from one range to the other each time the F2/J7-J12 key is
pressed.
260
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Moving a Robot or Motion Device With the MCP
"- -" 
00

0 ,!.6
;Choose robot to be accessed by Monitor
;Record location(s) of robot 2
* 1 :   * 7 4
Joint/Axis LED state
00
, 4"I
0 ,!.6
Adept MV Controller User's Guide, Rev. B
.     /
  

?
@  )$ A
Joint range
)
 ) *
C ) ?