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Joint Mode
When Joint mode is selected, movement is about the axis of the specified joint. The following
figure shows an Adept SCARA robot with three rotational joints (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.
Different robots or motion devices will have different joint numbers assigned to their joints.
When you first move an unfamiliar robot using Joint mode, set the monitor speed to 10 or
lower, put the robot in a safe area, and carefully move the robot using the different joint
numbers to verify how the pendant moves the robot. See the documentation for the motion
devices you are using for details on their joint assignments.
Figure 3-7. Joint Mode (Four-Axis Adept Cobra Robot Shown)
To position the robot while in Joint mode:
1. Press the Jog Mode button until Joint is displayed in the Jog Mode indicator.
2. Press and hold the "+" button to move the robot joint in the positive direction; press
and hold the "–" button to move the robot joint in the negative direction.
World Mode
When World mode is selected, movement in the X, Y, or Z direction is parallel to an axis of the
World coordinate system.
Chapter 3: Operation
Adept T20 Pendant User's Guide, Rev. A
Page 26 of 50
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