Nortech Systems Adept RS-232/TERM - Manual (Page 150)

Appendix C - Using the Manual Control Pendant (MCP)
150 Adept SmartController User’s Guide, Rev. E
The MCP selection cycles from one robot to the next each time the DEV/F3 key is pressed.
Be careful when recording positions with the MCP; the position recorded by HERE or
TEACH commands depends on the robot that is currently selected by the monitor or
program and not on the robot selected by the MCP. The following commands will allow
you to teach the position of robot 2 regardless of which robot is selected by the MCP.
.SELECT ROBOT = 2 ;Choose robot to be accessed by Monitor
.TEACH p[1] ;Record location(s) of robot 2
Robots With Fewer Than Six Joints
The MCP has six axis/joint selection buttons. In Cartesian modes (WORLD, TOOL), these
correspond to all six possible Cartesian values: X, Y, Z, RX, RY, RZ. Not all mechanisms
can move in all of these coordinates. For example, a 4-axis SCARA robot can move in only
X, Y, Z and RZ. Buttons that have no effect on your robot are ignored and in some cases
cannot be selected.
Robots With More Than Six Joints
In JOINT mode, each of the six buttons is used to control a specific joint of the robot. If the
robot has more than six joints, the F2/J7-J12 key can be used to access the 7th to 12th
joints. Only the robot currently selected by the MCP is affected. The currently selected
joint is shown by the state of the LED on the joint/axis key as described below. If you
press the key for joint 1, and the LED is steady, you are controlling Joint 1. If you press
F2/J7-J12, then press the key for joint 1, the LED will flash, indicating that you are
controlling Joint 7.
The MCP cycles from one range to the other each time the F2/J7-J12 key is pressed.
Table C-2. Controlling More Than One Robot
DEV LED state Robot selected by pendant
OFF 1
ON 2
FLASHING 3 (and above)
Table C-3. Robots With More Than 6 Axes
Joint/Axis LED state Joint range
OFF None
STEADY 1 to 6
FLASHING 7 to 12