Nortech Systems Adept RS-232/TERM - Manual (Page 138)

Appendix C - Using the Manual Control Pendant (MCP)
138 Adept SmartController User’s Guide, Rev. E
Figure C-10. Command (CMD) Function Button
The AUTO START, CALIB, CMD1, and CMD2 functions require the MCP to be in Auto
mode. If one of these function buttons is pressed while the MCP is in Manual mode, the
MCP prompts you to place the keyswitch in the Auto position. The operation is halted
and you must press the function button again. The programs started by these buttons may
include a WAIT.START instruction, in which case the program will pause and the MCP
will display START and CANCEL buttons over the two right soft buttons. Pressing START
allows the program to continue. Pressing CANCEL halts program execution.
The programs started by these functions run in task 0. Therefore, High Power must be
enabled and the robot must be calibrated.
Auto Start When AUTO START is pressed, the pendant display shows:
Enter last two digits of file name:
auto_
Enter one or two digits and press REC/DONE. The system attempts to load the file
AUTOxx.V2 from the default disk, and COMMAND the program “autoxx” (xx refers to
the digits you entered). The program file AUTOxx.V2 must reside on the default disk,
and it must contain a monitor command program named “autoxx”. If the file does not
exist, or does not contain a correctly named program, the operation will be aborted and
the appropriate error message will be displayed on the LCD. For example, if you had
entered “9”, the system would attempt to load the file AUTO9.V2 and COMMAND the
program “auto9”.
Calib When CALIB is pressed, the robot calibration procedure begins (High Power
must be enabled).
Store All When STORE ALL is pressed, the pendant displays:
Enter last two digits of file name:
STORE auto_
Enter one or two digits, press REC/DONE, and all programs and variables in system
memory will be stored to a file on the default disk with the name autoxx.v2. For example,
if you had entered “11”, the file AUTO11.V2 would be created, and all programs and
global variables in system memory would be stored to that file.
EDIT DISP
CLR
ERR
PROG
SET
CMD
AUTO
START
CALIB
STORE
ALL
CMD1 CMD2
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