Nortech Systems Adept RS-232/TERM - Manual (Page 147)

Moving a Robot or Motion Device With the MCP
Adept SmartController User’s Guide, Rev. E 147
Joint State
When joint state is selected, movement is about the axis of the specified joint. Figure C-17
shows an Adept SCARA robot with three rotational joints (Joints 1, 2, and 4) and one
translational joint (Joint 3). Positive rotation of joints 1 and 2 is counterclockwise as
viewed from above. Positive rotation of Joint 4 is clockwise as viewed from above.
Positive movement of Joint 3 is downward. Before the speed bars will move a joint, the
correct joint must be selected from the manual control buttons.
Different robots or motion devices will have the different joint numbers assigned to their
joints. When you first move an unfamiliar robot using joint state, set the monitor speed to
10 or lower, put the robot in a safe area, and carefully move the robot using the different
joint numbers to verify how the MCP moves the robot. See the documentation for the
motion devices you are using for details on their joint assignments.
Figure C-17. JOINT State (Four-Axis SCARA)
T
STEP
1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
Joint 1
Joint 2
Joint 3
Joint 4
Joint 1
Joint 2
Joint 3
Joint 4