Appendix C - Using the Manual Control Pendant (MCP)

DIS PWR Button

The Disable Power button will shut down High Power to the robot or motion device when pressed. Unlike the emergency stop switch, the Disable Power Button initiates a controlled stop, where the robot is decelerated under software control. After the robot has stopped, power is turned off.

RUN/HOLD

When the RUN/HOLD button is initially pressed, it will stop the robot and pause the executing program (task 0). If you then press and hold down the button, the program proceeds until the button is released. When the button is released, the robot stops and the executing program pauses until the button is pressed again.

Joint/Axis Control Buttons

The buttons on the far right side are the joint/axis control buttons. When the MCP is in manual mode, these buttons select which robot joint will move, or the coordinate axis along which the robot will move. The X/1, Y/2, Z/3, RX/4, RY/5, and RZ/6 buttons are covered starting on page 143. (The MCP must be in manual mode before a joint/axis control button can be selected.)

STEP Button

When the Auto/Manual keyswitch is set to Manual, V+ programs cannot initiate motions unless you press the step button and speed bar on the MCP. To continue the motion once it has started, you can release the step button but must continue to press the speed bar.

Failure to operate the step button and the speed bar properly results in the following error message:

*Speed pot or STEP not pressed*

Once a motion has started in this mode, releasing the speed bar also terminates any belt tracking or motion defined by an ALTER program instruction.

Motions started in this mode have their maximum speeds limited to those defined for manual control mode.

As an additional safeguard, when High Power is enabled and the keyswitch is set to Manual, the MCP is set to off mode, not comp or manual mode.

Programs designed to move the robot in manual mode should read the status of the step and speed bar before starting the move. The program should prompt the user as required.

Speed Bars

In World, Tool, and Joint Mode

The speed bars are used to control the robot’s speed and direction. The joint(s) that will move when the speed bars are pressed depends on the “state” selected with the MAN/HALT button. Press the speed bars with your left thumb. Pressing the speed bars near the outer ends will move the robot faster; pressing the speed bar near the center will move the robot slower. See page 143 for details on positive and negative directions.

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Nortech Systems RS-422/485, XUSR, XSYS Joint/Axis Control Buttons, Speed Bars, Adept SmartController User’s Guide, Rev. E
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RS-422/485, XSYS, XUSR, RS-232/TERM specifications

Nortech Systems offers a comprehensive suite of serial communication solutions, including RS-232/TERM, XUSR, XSYS, and RS-422/485 interfaces. These products are designed to facilitate reliable and high-speed data transmission in various industrial applications, making them essential for connecting devices in automation, telecommunications, and data acquisition systems.

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.

Building on the RS-232 standard, the XUSR and XSYS devices offer enhanced functionalities and flexibility. XUSR, for instance, supports not just traditional RS-232 connections, but also protocol conversion for various serial interfaces, facilitating seamless integration of legacy systems with modern networking technologies. It is particularly useful in environments where multiple protocols need to be managed simultaneously.

XSYS is designed for more complex applications and supports advanced communication features such as multi-drop configurations, enabling it to connect multiple devices on a single bus. This makes it suitable for extensive industrial networks where space and wiring complexity need to be minimized. Synchronous and asynchronous data transfer modes ensure that the XSYS is adaptable for both real-time data collection and standard command-response applications.

On the other hand, RS-422/485 interfaces excel in long-distance communication, allowing for data transmission over distances up to 4,000 feet. They are designed for multi-point connections, supporting up to 32 devices on a single bus through differential signaling, which enhances noise immunity. These characteristics make RS-422/485 particularly well-suited for environments with electromagnetic interference, such as factories or subways.

Nortech Systems’ serial communication solutions emphasize reliability, ease of use, and versatility. With their commitment to high performance and user satisfaction, these interfaces provide critical connectivity in today’s increasingly automated and interconnected world. Whether in data centers, manufacturing setups, or remote sensor networks, Nortech's offerings stand out for their reliability, efficiency, and adaptability, ensuring effective data communication across diverse applications.
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