Specifications

Moving a Robot or Motion Device with the MCP
Adept SmartController User’s Guide, Rev. H 149
The following figure shows the joint assignments for a typical six-axis robot (as always,
the first time you move a robot, carefully verify the joint assignments).
Figure C-18. JOINT State (Six-Axis Robot)
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 state may have been disabled by the manufacturer on some
or all joints.
NOTE: Free state, also referred to as Free mode, is disabled on Adept
Viper, AdeptSix, and Adept Quattro robots.
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 C-19 on page 150 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.
T
1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
STEP
T
1
Joint 4
Joint 5
Joint 6
Joint 4
Joint 5
Joint 6
Gripper
Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com