Adept T2 Pendant - Manual (Page 27)

Pendant Control Modes
Adept T2 Pendant User’s Guide, Rev D 27
4.6 Pendant Control Modes
The pendant control modes include World, Tool, Joint, and Free. When high power is
enabled and the robot is calibrated, the Mode button is used to step through these four
modes in sequence. The selected mode is shown by a lit indicator next to the mode name
in the Mode Display area. When one of these modes is active, the Pendant Control LED is
lit.
NOTE: If the system is placed into COMP mode, by pressing the
COMP/PWR button on the touchscreen or the Power On button,
subsequent pressing of the Mode button will enable the last pendant
Manual mode used by the operator.
World Mode
When World mode is selected, movement in the X, Y, or Z direction is parallel to an axis of
the World coordinate system.
Select an axis of motion using the Joint/Axis control buttons - see the following figure.
Pressing the ‘+’ button moves the robot tool flange in the positive direction. Pressing the
‘–’ button moves the flange in the negative direction.
Figure 4-3. World Mode (Four-Axis SCARA)
X
Y
Z
RX
RY
RZ
X direction
Y direction
Z direction
RZ Rotation
+X
+Y
+RZ (CCW)
+Z T2 Pendant Joint/Axis
Control Buttons