Appendix C - Using the Manual Control Pendant (MCP)

Figure C-18shows the joint assignments for a typical six-axis robot (as always, the first time you move a robot, carefully verify the joint assignments).

Joint 4

Joint 5

Joint 6

T1

X

1

Y

2

Z 3

RX

4

RY

5

RZ

6

T1

STEP

Joint 4

Joint 5

Joint 6

Gripper

Figure C-18. JOINT State (Six-Axis Robot)

Free State

When free state is selected, individual joints are freed from servo control, and the robot brakes (if any) are released. Unlike the other states, you can make multiple selections from the manual control buttons to free as many joints as required. In some cases, such as Joints 1 and 2 on an AdeptOne/AdeptThree robot, multiple joints are freed by selecting a single button. On some robots Free mode may have been disabled by the manufacturer on some or all joints.

As soon as the COMP/PWR button is pressed, or another selection is made from the manual control buttons, all joints are placed back under servo control and will not move freely.

Figure C-19shows the free state for a four-axis SCARA robot. The joint assignments in the free state are the same as the joint assignments in joint state.

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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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