Nortech Systems Adept RS-422/485 User Manual download pdf (Page 147)

Moving a Robot or Motion Device With the MCP

Adept SmartController User’s Guide, Rev. E 147

Joint State

When joint state is selected, movement is about the axis of the specified joint. Figure C-17

shows an Adept SCARA robot with three rotational joints (Joints 1, 2, and 4) and one

translational joint (Joint 3). Positive rotation of joints 1 and 2 is counterclockwise as

viewed from above. Positive rotation of Joint 4 is clockwise as viewed from above.

Positive movement of Joint 3 is downward. Before the speed bars will move a joint, the

correct joint must be selected from the manual control buttons.

Different robots or motion devices will have the different joint numbers assigned to their

joints. When you first move an unfamiliar robot using joint state, set the monitor speed to

10 or lower, put the robot in a safe area, and carefully move the robot using the different

joint numbers to verify how the MCP moves the robot. See the documentation for the

motion devices you are using for details on their joint assignments.

Figure C-17. JOINT State (Four-Axis SCARA)

STEP

Joint 1

Joint 2

Joint 3

Joint 4

Joint 1

Joint 2

Joint 3

Joint 4

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Nortech Systems Adept RS-422/485 User Manual Page 147