Specifications

Moving a Robot or Motion Device with the MCP
Adept MV Controller User’s Guide, Rev C 193
STEP Button
When the VFP keyswitch is set to MANUAL, V
+
programs cannot initiate motions unless
you press the
STEP
button and speed bar on the MCP. To continue the motion once it has
started, you can release the
STEP
button but must continue to press the speed bar. Failure
to operate the
STEP
button and the speed bar properly results in the following error
message:
*Speed pot or STEP not pressed*
Once a motion has started in this mode, releasing the speed bar also terminates any belt
tracking or motion defined by an ALTER program instruction.
Motions started in this mode have their maximum speeds limited to those defined for
manual control mode.
As an additional safeguard, when High Power is enabled and the VFP switch is set to
MANUAL
, the MCP is set to
OFF
mode, not
COMP
or
MANUAL
mode.
Speed Bars
The speed bars are used to control the robot’s speed and direction. The joint(s) that will
move when the speed bars are pressed depends on the “state” selected with the
MAN/HALT button. Press the speed bars with your left thumb. Pressing the speed bars
near the outer ends will move the robot faster, pressing the speed bar near the center will
move the robot slower. See page 194 for details on positive and negative directions.
Figure D-12. Speed Bars
Slow Button
The slow button selects between the two different speed ranges of the speed bars. When
the slow button LED is lit, the slower speed range is selected. This slower speed is 25% of
the normal MCP speed.
Fast
Fast
Slow
-
Z
3
Y
2
X
1
PANIC
COMP
PWR
RUN
HOLD
MAN
HALT
DIS
PWR
+
WORLD TOOL JOINT FREE DEV
USER
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