Appendix C - Using the Manual Control Pendant (MCP)

C.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 Adept 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, joint state, or in free 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. In free state, selected joints of the robot are “freed” from servo control so they can be moved by hand.

Mode Control Buttons

The mode control buttons, Figure C-12, 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

 

 

 

 

 

X

 

 

MAN

1

 

 

HALT

Y

 

 

 

 

 

 

2

RUN

DIS

COMP

Z

HOLD

PWR

PWR

 

 

 

3

Figure C-12. Mode Control Buttons

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Nortech Systems XUSR, RS-232/TERM, RS-422/485, XSYS manual Moving a Robot or Motion Device With the MCP, Mode Control Buttons

RS-422/485, XSYS, XUSR, RS-232/TERM specifications

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The RS-232/TERM interface is a widely adopted standard for serial communication, known for its simplicity and robustness. It supports point-to-point communication over relatively short distances, typically up to 50 feet. Key features include a maximum baud rate of up to 115.2 kbps, error-checking capabilities, and a straightforward connection process, making it ideal for connecting peripheral devices like printers, modems, and barcode scanners.

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