Specifications

Appendix C - Using the Manual Control Pendant (MCP)
146 Adept SmartController User’s Guide, Rev. H
Figure C-15. TOOL State (Four-Axis SCARA)
T
1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
STEP
X direction
Y direction
Z direction
Rotation about
Tool Z axis
Gripper
+X
+Y
+RZ
Keyway
+Z
+X
+Y
+
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