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Chapter 7 - Using the Manual Control Pendant (MCP) 7.2 MCP Predefined Function Buttons EDIT DISP CLR ERR CMD PROG SET USER WORLD TOOL JOINT FREE DEV Figure 7-6. MCP Predefined Function Buttons Edit Function NOTE: This feature is not available on <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 systems. Display Function NOTE: This feature is not available on <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 systems. Clear Error Function NOTE: This feature is not available on <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 systems. CMD Function NOTE: This feature is not available on <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 systems. Prog Set Function NOTE: This feature is not available on <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 systems. 94 <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B
Moving a Robot or Motion Device With the MCP 7.3 Moving a Robot or Motion Device With the MCP Introduction The MCP is used with a robot or motion device primarily to teach robot locations for use in application programs. The MCP is also used with custom applications that employ teach routines that pause execution at specified points and allow an operator to teach or reteach the robot locations used by the program. The <strong>Adept</strong> AIM software system makes extensive use of the pendant for teaching robot locations. When you move the robot using the MCP, motion will be in world state, tool state, or joint state. When moving in World state, directions are sent from the MCP to move the robot in a Cartesian coordinate system centered at the base of the robot. When moving in Tool state, directions are sent from the MCP to move the robot in a Cartesian coordinate system centered at the robot’s end-of-arm tooling location. In Joint state, directions are sent from the MCP to move individual robot joints. Mode Control Buttons The mode control buttons, Figure 7-7, change the state being used to move the robot, switch control of the robot between the MCP and application programs, and enable High Power (when necessary). USER WORLD TOOL JOINT FREE DEV - + MAN HALT Y 2 X 1 RUN HOLD DIS PWR COMP PWR Z 3 Emergency Stop Switch Figure 7-7. Mode Control Buttons The emergency stop switch will stop program execution and turn off High Power. If your robot is equipped with brakes, they will be activated. COMP/PWR Button If High Power is enabled, the COMP/PWR button selects <strong>com</strong>puter mode. If the system is in AUTO mode and High Power is disabled, the COMP/PWR button enables High Power and selects <strong>com</strong>puter mode. In <strong>com</strong>puter mode, an executing program or the system terminal has control of the robot. (If the robot has not been calibrated and High Power is turned on, the MCP emergency stop switch LED will be lit, and both the COMP/PWR and MAN/HALT LEDs will be off.) <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B 95
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The information contained herein is
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Table of Contents Before Unpacking
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