Specifications

Moving a Robot or Motion Device with the MCP
Adept SmartController User’s Guide, Rev. H 151
Controlling More Than One Robot
Like the monitor and each program task, the Manual Control Pendant (MCP) can also
have a robot attached. When moving a robot from the MCP or displaying joint values or
world locations by pressing the DISP key, only the currently selected robot is affected. The
robot currently selected by the MCP is shown by the state of the DEV LED (in the manual
state LED group; see Figure C-4 on page 130). The following table describes the
conditions.
The MCP selection cycles from one robot to the next each time the DEV/F3 key is pressed.
Be careful when recording positions with the MCP; the position recorded by HERE or
TEACH commands depends on the robot that is currently selected by the monitor or
program and not on the robot selected by the MCP. The following commands will allow
you to teach the position of robot 2 regardless of which robot is selected by the MCP.
.SELECT ROBOT = 2 ;Choose robot to be accessed by Monitor
.TEACH p[1] ;Record location(s) of robot 2
Robots with Six or Less Joints
The MCP has six axis/joint selection buttons. In Cartesian modes (WORLD, TOOL), these
correspond to all six possible Cartesian values: X, Y, Z, RX, RY, RZ. Not all mechanisms
can move in all of these coordinates. For example, a 4-axis SCARA robot can move in only
X, Y, Z and RZ. Buttons that have no effect on your robot are ignored and in some cases
cannot be selected.
Table C-2. Controlling More Than One Robot
DEV LED state Robot selected by pendant
OFF 1
ON 2
FLASHING 3 (and above)
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