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Moving a Robot or Motion Device With the MCP
Adept SmartController User’s Guide, Rev. E 143
In Comp Mode
See the description of the Step Button on page 142.
Figure C-13. Speed Bars
Slow Button
The slow button selects between the two different speed ranges of the speed bars. When
the slow button LED is lit, the slower speed range is selected. This slower speed is 25% of
the normal MCP speed.
Robot States
World State
When world state is selected, movement in the X, Y, or Z direction is parallel to an axis of
the world coordinate system. Before the speed bars will move the robot, an axis of motion
must be selected from the manual control buttons. The world coordinate system for a
SCARA robot is shown in Figure C-14. 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.
-
Z
3
Y
2
X
1
PANIC
COMP
PWR
RUN
HOLD
MAN
HALT
DIS
PWR
+
WORLD TOOL JOINT FREE DEV
USER
Fast
Fast
Slow