Specifications

Moving a Robot or Motion Device with the MCP
Adept SmartController User’s Guide, Rev. H 147
Figure C-16. TOOL State (Six-Axis Robot)
T
1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
STEP
Rotation about
TOOL X axis
Rotation about
TOOL Y axis
Rotation about
TOOL Z axis
Gripper
RX
RY
RZ
T
1
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