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Appendix C - Using the Manual Control Pendant (MCP)
136 Adept SmartController User’s Guide, Rev. E
Joint Values When this button is pressed, the display shows:
J1 = x.xx J2 = x.xx J3 = x.xx
J4 = x.xx J5 = x.xx J6 = x.xx
These values represent the current joint positions of the robot or motion device. Values
will be shown only for joints the robot or motion device actually has. Rotational joint
values are expressed in degrees, and translational joint values are expressed in
millimeters.
WORLD LOCATION When this button is pressed, the display shows:
X = xxx.xxmm Y = xxx.xxmm Z = xxx.xxmm
y = xxx.xx° p = xxx.xx° r = xxx.xx°
The values represent the current location of the robot or motion device in world
coordinates. See Section C.3 on page 140 for details on world coordinates.
Status & ID When this button is pressed, the display shows:
Status SOFTWARE CNTRLR ROBOT
ID ID ID ’S
The Status button displays:
program.name 50 1 0
Program Speed Cycle Left
Program shows the name of the currently executing or most recently executed program.
Speed shows the current monitor speed. Cycle shows the total number of cycles specified
when the program was executed. Left shows the number of cycles of the program
remaining to execute.
The Software, Controller, and Robot ID buttons display the ID information for those items.
Digital I/O When this button is pressed, the display shows:
---- ---- ---- ---- ---- ---- 0000 0011
+ 0032-0001 - OUT IN SOFT
The top line shows the status of the range of digital I/O signals indicated on the second
line (1-32 in the above example). A “–” indicates the channel is not installed, a “1”
indicates the signal is on, and a “0” indicates the signal is off. The type of signal that is
being displayed is indicated by the LED on the soft buttons labeled OUT, IN, and SOFT.
The above example shows digital output signals in the range 1 to 32. Signals 1-2 are on,
signals 3-8 are off, and no other signals in this range are installed. See Section 3.8 on page
58 for more information on digital I/O signal ranges.
To display a different range of signals, press the soft buttons under the “+” or “–” labels.
The next or previous range of signals will be displayed. Press the OUT, IN, and SOFT soft
buttons to display input, output, or soft signal ranges.