Nortech Systems Adept RS-232/TERM - Manual (Page 149)

Moving a Robot or Motion Device With the MCP
Adept SmartController User’s Guide, Rev. E 149
Figure C-19. FREE State (Four-Axis SCARA)
Controlling More Than One Robot
Like the monitor and each program task, the Manual Control Pendant (MCP) can also
have a robot attached. When moving a robot from the MCP or displaying joint values or
world locations by pressing the DISP key, only the currently selected robot is affected. The
robot currently selected by the MCP is shown by the state of the DEV LED (in the manual
state LED group, see
Figure C-4 ). The table below describes the conditions:
WARNING: As soon as a joint is selected from the manual
control buttons, the related joint is free to move (in some
cases, multiple joints may be freed up). In many cases the
weight on the joint will be sufficient to move the joint and
cause damage or harm. For example, when joint 3 on a
SCARA or Cartesian robot is freed, the joint is free to fall to
the end of its travel. In articulated robots, multiple links of
the robot may be free to fall when a single joint is freed up.
Be extremely careful when selecting a joint in free mode.
T1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
STEP
Joint 1 Free
Joint 2 Free
Joint 3 Free
Joint 4 Free
Gripper
Joint 1
Joint 2
Joint 3
Joint 4