Appendix C - Using the Manual Control Pendant (MCP)

+Z

+RZ (CCW)

+Y

+X

X

1

Y

2

Z 3

RX

4

RY

5

RZ

6

T1

STEP

Xdirection

Ydirection

Zdirection

Rotation

Gripper Activity

Figure C-14. WORLD State (Four-Axis SCARA)

The T1 button cycles the gripper solenoids. Press anywhere on the “+” side of the speed bar to open the gripper, on the “–” side to close the gripper.

NOTE: This is the most common gripper setup. The gripper solenoids may be configured so they operate differently (or they may not be configured at all). Place your robot in a safe location and cycle the gripper to verify which side of the speed bar opens the gripper. (The SPEC utility is used to configure gripper activity. See the Instructions for Adept Utility Programs.)

Tool State

When tool state is selected, movement in the X, Y, or Z direction is along an axis of the tool coordinate system. The tool coordinate system is centered at the robot tool flange with the Z axis pointing away from the flange. On most robots, the positive X axis is aligned with the center of the tool flange keyway. Before the speed bars will move the robot, an axis of motion must be selected from the manual control buttons. If X1 is selected, pressing the “+” speed bar will move the robot tool flange in the positive X direction. Pressing the “–” speed bar will move the flange in the negative X direction.

In a four-axis robot, positive rotation of the gripper (RZ) is clockwise as viewed from above. Figure C-15shows the tool coordinate system for a four-axis SCARA robot.

Figure C-16shows the tool coordinate system on a six-axis robot.

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Nortech Systems XUSR, RS-232/TERM, RS-422/485, XSYS manual Tool State, 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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