Nortech Systems Adept RS-232/TERM - Manual (Page 140)

Appendix C - Using the Manual Control Pendant (MCP)
140 Adept SmartController User’s Guide, Rev. E
C.3 Moving a Robot or Motion Device With the MCP
Introduction
The MCP is used with a robot or motion device primarily to teach robot locations for use
in application programs. The MCP is also used with custom applications that employ
teach routines that pause execution at specified points and allow an operator to teach or
reteach the robot locations used by the program. The Adept AIM software system makes
extensive use of the pendant for teaching robot locations.
When you move the robot using the MCP, motion will be in world state, tool state, joint
state, or in free state.
When moving in world state, directions are sent from the MCP to move the robot in a
Cartesian coordinate system centered at the base of the robot. When moving in tool state,
directions are sent from the MCP to move the robot in a Cartesian coordinate system
centered at the robot’s end-of-arm tooling location.
In joint state, directions are sent from the MCP to move individual robot joints. In free
state, selected joints of the robot are “freed” from servo control so they can be moved by
hand.
Mode Control Buttons
The mode control buttons, Figure C-12 , change the state being used to move the robot,
switch control of the robot between the MCP and application programs, and enable High
Power (when necessary).
Figure C-12. Mode Control Buttons
COMP
PWR
RUN
HOLD
MAN
HALT
DIS
PWR
-
Z
3
Y
2
X
1
+
WORLD TOOL JOINT FREE DEV USER