Specifications

Appendix C - Using the Manual Control Pendant (MCP)
144 Adept SmartController User’s Guide, Rev. H
Robot States
World State
When World state is selected, movement in the X, Y, or Z direction is parallel to an axis of
the World coordinate system. Before the speed bars will move the robot, an axis of motion
must be selected from the manual control buttons. The World coordinate system for a
SCARA robot is shown in the following figure. If X1 is selected, pressing the ’+’ speed bar
will move the robot tool flange in the positive X direction. Pressing the ’–’ speed bar will
move the flange in the negative X direction.
Figure C-14. WORLD State (Four-Axis SCARA)
The T
1
button cycles the gripper solenoids. Press anywhere on the ’+’ side of the speed bar
to open the gripper, on the ’–’ side to close the gripper.
NOTE: This is the most common gripper setup. The gripper solenoids
may be configured so they operate differently (or they may not be
configured at all). Place your robot in a safe location and cycle the gripper
to verify which side of the speed bar opens the gripper. (The SPEC utility
is used to configure gripper activity. See the Instructions for Adept
Utility Programs.)
T
1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
STEP
adept
X direction
Y direction
Z direction
Rotation
Gripper Activity
+X
+Y
+RZ (CCW)
+Z
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