Specifications

Appendix D - Using the Manual Control Pendant (MCP)
192 Adept MV Controller User’s Guide, Rev C
MAN/HALT Button
When there is no program executing, or a program has paused for a pendant teach
routine, pressing the MAN/HALT button selects manual mode. In manual mode, the
MCP has control of the robot. If a program is executing, the MAN/HALT button will stop
program execution (without shutting off High Power).
Manual mode cannot be entered if High Power is off (E-Stop button LED not illuminated).
To enable High Power, press the COMP/PWR button. The MCP is in manual mode when:
1. The LED on the MAN/HALT button is illuminated, and
2. One of the manual state LEDs is also illuminated (the Manual state LEDs indicate
the type of manual motion that has been selected, either World, Tool, Joint, or
Free).
The system will remain in Manual mode until High Power is turned off, or the
COMP/PWR button is pressed. When you have finished moving the robot manually,
press the COMP/PWR button to return control to the controller. If a program attempts to
execute with the MCP in manual mode, the error “Comp mode disabled” will be
generated.
When the MAN/HALT button is pressed the first time, the MCP will be in world state.
Pressing the MAN/HALT button again selects the next state to the right (tool, joint, free),
eventually wrapping back to the leftmost state (world). If manual mode is terminated and
re-entered (without turning off system power) the last active state is selected.
DIS PWR Button
The Disable Power button will shut down High Power to the robot or motion device when
pressed.
RUN/HOLD
When the RUN/HOLD button is initially pressed it will stop the robot and pause the
executing program (task 0). If you then press and hold down the button, the program
proceeds until the button is released. When the button is released, the robot stops and the
executing program pauses until the button is pressed again.
Joint/Axis Control Buttons
The buttons on the far right side are the joint/axis control buttons. When the MCP is in
manual mode, these buttons select which robot joint will move, or the coordinate axis
along which the robot will move. The X/1, Y/2, Z/3, RX/4, RY/5, and RZ/6 buttons are
covered starting on page 194. (The MCP must be in manual mode before a joint/axis
control button can be selected.)
1
If the robot has not been calibrated and High Power is turned on, the MCP emergency
stop switch LED will be lit, and both the COMP/PWR and MAN/HALT LEDs will be
off.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com