Nortech Systems Adept RS-232/TERM - Manual (Page 144)

Appendix C - Using the Manual Control Pendant (MCP)
144 Adept SmartController User’s Guide, Rev. E
Figure C-14. WORLD State (Four-Axis SCARA)
The T
1
button cycles the gripper solenoids. Press anywhere on the “+” side of the speed
bar to open the gripper, on the “–” side to close the gripper.
NOTE: This is the most common gripper setup. The gripper solenoids
may be configured so they operate differently (or they may not be
configured at all). Place your robot in a safe location and cycle the gripper
to verify which side of the speed bar opens the gripper. (The SPEC utility
is used to configure gripper activity. See the
Instructions for Adept
Utility Programs .)
Tool State
When tool state is selected, movement in the X, Y, or Z direction is along an axis of the tool
coordinate system. The tool coordinate system is centered at the robot tool flange with the
Z axis pointing away from the flange. On most robots, the positive X axis is aligned with
the center of the tool flange keyway. Before the speed bars will move the robot, an axis of
motion must be selected from the manual control buttons. If X1 is selected, pressing the
“+” speed bar will move the robot tool flange in the positive X direction. Pressing the “–”
speed bar will move the flange in the negative X direction.
In a four-axis robot, positive rotation of the gripper (RZ) is clockwise as viewed from
above.
Figure C-15 shows the tool coordinate system for a four-axis SCARA robot.
Figure C-16 shows the tool coordinate system on a six-axis robot.
T1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
STEP
adept
X direction
Y direction
Z direction
Rotation
Gripper Activity
+X
+Y
+RZ (CCW)
+Z