Specifications

Appendix C - Using the Manual Control Pendant (MCP)
148 Adept SmartController User’s Guide, Rev. H
Joint State
When Joint state is selected, movement is about the axis of the specified joint. The
following figure shows an Adept SCARA robot with three rotational joints (Joints 1, 2, and
4) and one translational joint (Joint 3). Positive rotation of joints 1, 2, and 4 is
counterclockwise as viewed from above. Positive movement of Joint 3 is downward.
Before the speed bars will move a joint, the joint must be selected from the manual control
buttons.
Different robots or motion devices will have the different joint numbers assigned to their
joints. When you first move an unfamiliar robot using Joint state, set the monitor speed to
10 or lower, put the robot in a safe area, and carefully move the robot using the different
joint numbers to verify how the MCP moves the robot. See the documentation for the
motion devices you are using for details on their joint assignments.
NOTE: Joint state is not available for Adept Quattro Robots.
Figure C-17. JOINT State (Four-Axis SCARA)
T
STEP
1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
Joint 1
Joint 2
Joint 3
Joint 4
Joint 1
Joint 2
Joint 3
Joint 4
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