Download Adept Cobra i600 User's Guide - pulsar.com.tr
Download Adept Cobra i600 User's Guide - pulsar.com.tr
Download Adept Cobra i600 User's Guide - pulsar.com.tr
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Chapter 7 - Using the Manual Con<strong>tr</strong>ol Pendant (MCP)<br />
Joint State<br />
When joint state is selected, movement is about the axis of the specified joint. Figure 7-11<br />
shows an <s<strong>tr</strong>ong>Adept</s<strong>tr</strong>ong> SCARA robot with three rotational joints (Joints 1, 2, and 4) and one<br />
<strong>tr</strong>anslational joint (Joint 3). Positive rotation of joints 1 and 2 is counterclockwise as<br />
viewed from above. Positive rotation of Joint 4 is clockwise as viewed from above.<br />
Positive movement of Joint 3 is downward. Before the speed bars will move a joint, the<br />
correct joint must be selected from the manual con<strong>tr</strong>ol buttons.<br />
Joint 2<br />
X<br />
1<br />
Joint 1<br />
Joint 1<br />
Y<br />
2<br />
Z<br />
3<br />
RX<br />
4<br />
RY<br />
5<br />
Joint 2<br />
Joint 3<br />
Joint 4<br />
Joint 3<br />
Joint 4<br />
RZ<br />
6<br />
T<br />
1<br />
STEP<br />
Figure 7-11. JOINT State (Four-Axis SCARA)<br />
Free State<br />
NOTE: This feature is not available on <s<strong>tr</strong>ong>Adept</s<strong>tr</strong>ong> <s<strong>tr</strong>ong>Cobra</s<strong>tr</strong>ong> <s<strong>tr</strong>ong>i600</s<strong>tr</strong>ong>/i800 systems.<br />
100 <s<strong>tr</strong>ong>Adept</s<strong>tr</strong>ong> <s<strong>tr</strong>ong>Cobra</s<strong>tr</strong>ong> <s<strong>tr</strong>ong>i600</s<strong>tr</strong>ong>/i800 Robot User’s <s<strong>tr</strong>ong>Guide</s<strong>tr</strong>ong>, Rev B
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