Adding Approach Distance; Using Jog To; Align; I/O Signals - adept technology T20 User Manual

Adding Approach Distance

You can specify an approach distance through the Maintenance screen. For details, see Setting
the Approach Distance on page 41.
After the approach distance is set, you can use the Appro soft key to bring the robot to the
approach position for the selected location. The approach position is the location less "A" mm
along the Z-axis of the tool transformation (or offset), where "A" is the approach distance set
on the Maintenance screen.

Using Jog To

Use Jog To to move the robot to a selected location (stored in memory).
To jog the robot to a location:
1. Press Loc from the Home screen to display the Available Locations screen.
2. Press the arrow buttons to select the desired location.
3. Press and hold Jog To until the robot is at the desired location. Release the button.
NOTE: The predefined JOINT ZERO location, sets the robot to #PPOINT (0,0,0,0,0,0).

Align

Align works with Adept Viper robots. While the Available Locations screen is displayed, you
can select a location and then press Align to align the nearest axis of the tool transformation
(or offset) to the Z axis.
NOTE: Align is only available for six-axis robots, like the Adept Viper robots.
NOTE: In addition to the green Joint/Axis control buttons, the Jog To and Align
functions are the only functions available for moving the robot.

3.12 I/O Signals

Press I/O on the Home screen to display the screens used to control I/O signals. The I/O signals
feature allow users to toggle outputs ON (active, high) and OFF (inactive, low). Round icons
represent input signals; square icons represent output signals. The available signal types are:
digital output, digital input, soft, and robot.
Chapter 3: Operation
Adept T20 Pendant User's Guide, Rev. A
Page 36 of 50