Specifications

Appendix C - Using the Manual Control Pendant (MCP)
150 Adept SmartController User’s Guide, Rev. H
Figure C-19. FREE State (Four-Axis SCARA)
WARNING: As soon as a joint is selected from the manual
control buttons, the related joint is free to move (in some
cases, multiple joints may be freed up). In many cases, the
weight on the joint will be sufficient to move the joint and
cause damage or harm. For example, when joint 3 on a
SCARA or Cartesian robot is freed, the joint is free to fall
to the end of its travel. In articulated robots, multiple links
of the robot may be free to fall when a single joint is freed
up. Be extremely careful when selecting a joint in free
mode.
T
1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
STEP
Joint 1 Free
Joint 2 Free
Joint 3 Free
Joint 4 Free
Gripper
Joint 1
Joint 2
Joint 3
Joint 4
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