Nortech Systems Adept RS-232/TERM - Manual (Page 142)

Appendix C - Using the Manual Control Pendant (MCP)
142 Adept SmartController User’s Guide, Rev. E
DIS PWR Button
The Disable Power button will shut down High Power to the robot or motion device when
pressed. Unlike the emergency stop switch, the Disable Power Button initiates a
controlled stop, where the robot is decelerated under software control. After the robot has
stopped, power is turned off.
RUN/HOLD
When the RUN/HOLD button is initially pressed, it will stop the robot and pause the
executing program (task 0). If you then press and hold down the button, the program
proceeds until the button is released. When the button is released, the robot stops and the
executing program pauses until the button is pressed again.
Joint/Axis Control Buttons
The buttons on the far right side are the joint/axis control buttons. When the MCP is in
manual mode, these buttons select which robot joint will move, or the coordinate axis
along which the robot will move. The X/1, Y/2, Z/3, RX/4, RY/5, and RZ/6 buttons are
covered starting on
page 143 . (The MCP must be in manual mode before a joint/axis
control button can be selected.)
STEP Button
When the Auto/Manual keyswitch is set to Manual, V + programs cannot initiate motions
unless you press the step button and speed bar on the MCP. To continue the motion once it
has started, you can release the step button but must continue to press the speed bar.
Failure to operate the step button and the speed bar properly results in the following error
message:
*Speed pot or STEP not pressed*
Once a motion has started in this mode, releasing the speed bar also terminates any belt
tracking or motion defined by an ALTER program instruction.
Motions started in this mode have their maximum speeds limited to those defined for
manual control mode.
As an additional safeguard, when High Power is enabled and the keyswitch is set to
Manual, the MCP is set to off mode, not comp or manual mode.
Programs designed to move the robot in manual mode should read the status of the step
and speed bar before starting the move. The program should prompt the user as required.
Speed Bars
In World, Tool, and Joint Mode
The speed bars are used to control the robot’s speed and direction. The joint(s) that will
move when the speed bars are pressed depends on the “state” selected with the
MAN/HALT button. Press the speed bars with your left thumb. Pressing the speed bars
near the outer ends will move the robot faster; pressing the speed bar near the center will
move the robot slower. See
page 143 for details on positive and negative directions.