Specifications

Appendix D - Using the Manual Control Pendant (MCP)
200 Adept MV Controller User’s Guide, Rev C
Free State
When free state is selected, individual joints are freed from servo control, and the robot
brakes (if any) are released. Unlike the other states, you can make multiple selections from
the manual control buttons to free as many joints as required. In some cases, such as Joints
1 and 2 on an AdeptOne/AdeptThree robot, multiple joints are freed by selecting a single
button. On some robots Free mode may have been disabled by the manufacturer on some
or all joints.
As soon as the COMP/PWR button is pressed, or another selection is made from the
manual control buttons, all joints are placed back under servo control and will not move
freely.
Figure D-18 shows the free state for a four-axis SCARA robot. The joint assignments in the
free state are the same as the joint assignments in joint state.
WARNING: As soon as a joint is selected from the manual control
buttons, the related joint is free to move (in some cases, multiple joints
may be freed up). In many cases the weight on the joint will be sufficient
to move the joint and cause damage or harm. For example, when joint 3
on a SCARA or Cartesian robot is freed, the joint is free to fall to the end
of its travel. In articulated robots, multiple links of the robot may be free
to fall when a single joint is freed up. Be extremely careful when selecting
a joint in free mode.
Figure D-18. FREE State (Four-Axis SCARA)
T
1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
Joint 1 Free
Joint 2 Free
Joint 3 Free
Joint 4 Free
Gripper
Joint 1
Joint 2
Joint 3
Joint 4
STEP
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