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Chapter 7 - Using the Manual Control Pendant (MCP) Data Entry Buttons NOTE: These features are not available on <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 systems. REC/DONE Button DEL Button NOTE: This feature is not available on <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 systems. NOTE: This feature is not available on <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 systems. SLOW REC DONE NO YES RX 4 F 1 J – 7 J 12 F 7 8 9 4 5 6 1 2 3 RY 5 RZ 6 T 1 DEV F3 0 • DEL STEP Figure 7-5. Data Entry Buttons Soft Buttons NOTE: This feature is not available on <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 systems. Function Buttons NOTE: This feature is not available on <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 systems. 92 <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B
Manual Control Pendant Basics Emergency Stop From the MCP To immediately halt program execution and turn off High Power, press the emergency stop switch on the MCP. This switch has the same effect as pressing the emergency stop switch on the Front Panel. To re-enable High Power after pressing the MCP emergency stop switch, follow this process: 1. Turn the emergency stop switch to the right (clockwise). The switch is spring loaded and will return to its normal position. 2. Depress the enabling switch. High Power can now be re-enabled by pressing the COMP/PWR button (mode control group), or by entering the ENABLE POWER <strong>com</strong>mand from the keyboard. 3. Press the blinking High Power button on the Front Panel. High Power is enabled and current can flow to the robot motors. Re-Enabling Power After Enable Switch Released In Automatic Mode When operating in Automatic Mode, the Enable Switch is ignored by the system. Releasing the Enable switch has no effect on operation. In Manual Mode When the system is operating in Manual Mode and you release the Enable switch (or go to position 3 in the 3-position switch), the system turns off in a controlled manner. This puts the system in a different state than when the E-Stop button is pressed. To re-enable high power, follow this process: 1. Depress the enabling switch. 2. High Power can now be re-enabled by pressing the COMP/PWR button on the MCP, or by clicking the Enable Power button in the Robot Control window in <strong>Adept</strong> Desktop. High Power is enabled and current can flow to the robot motors. Be aware: if a user program is continuously attempting to enable power, as soon as the enable switch is pressed, high power turns on and the robot can move. Background Mode The pendant is in background mode when the USER LED is not lit and none of the predefined functions are being used. The USER LED is lit whenever an application program is making use of the MCP. The MCP will not return to background mode until the program <strong>com</strong>pletes execution or is aborted. The LEDs above the predefined function buttons indicate whether the functions are being used. If one of the LEDs is lit, the MCP can be returned to background mode by pressing the REC/DONE key (more than one press may be necessary). The predefined functions are described in “MCP Predefined Function Buttons” on page 94. When the MCP is in background mode, the viewing angle of the LCD can be changed. There are three different angles. Press the “2”, “5”, or “8” button to select a different viewing angle. <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B 93
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