Manual Control Pendant User's Guide
Contents
1. 1 en Joint 2 I Joint3 o Joint 3 Joint 4 Joint4 _ Gripper Activity Figure 4 8 JOINT State SCARA 35 Manual Control Pendant User s Guide Joint 1 Joint 2 Joint 3 Joint 4 Joint 2 Gripper Joint 1 gt NG Jos A Figure 4 9 JOINT State Cartesian 36 Chapter 4 Moving a Robot or Motion Device With the MCP Joint 4 Joint 4 Joint 5 Joint 5 Joint 6 Gripper Figure 4 10 JOINT State Six Axis Robot 37 Manual Control Pendant User s Guide 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 amp 2 on a SCARA robot multiple joints are freed by selecting a single button 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 4 11 shows the free state for a four axis SCARA robot The joint assignments in the free state are the same as the joint assign ments in joint state See Figure 4 7 for the joint assignments in a typical six axis robot WARNING As soon as a joint is selected from the manual control buttons the related joint is free to move in some cases multiple2. DEV 2 LED is off device 1 is selected when it is lit continuously device 2 is selected when it flashes device 3 is selected 40
3. Manual Control Pendant User s Guide OOD ab a WO Go on 8 JAAA AAAS N DD ao QOOQOE oao goe Part Number 00101 00010 Rev A June 1991 ccert 150 Rose Orchard Way San Jose CA 95134 USA Phone 408 432 0888 Telex 171942 Fax 408 432 8707 Otto Hahn Strasse 23 4600 Dortmund 50 Germany Phone 49 231 75 89 40 Fax 49 231 75 89 450 adep 7 rue Victor Hugo 92310 S vres France Phone 33 1 45 34 32 32 Fax 33 1 45 34 76 16 lechnol ay i inc Chapter 4 Moving a Robot or Motion Device With the MCP 41 Introduction The MCP is used with a robot or motion device primarily to teach robot locations for use in application programs The MCP is also used with cus tom applications that employ teach routines that pause execution at specified points and allow an operator to teach or re teach the robot loca tions used by the program The Adept AIM software system makes exten sive use of the pendant for teaching robot locations When you move the robot using the MCP motion will be in world state tool state joint state or in free state When moving in world state directions are sent from the MCP to move the robot in a Cartesian coordinate system centered at the base of the robot Wh
4. dant User s Guide Rotation about TOOL X axis Rotation about TOOL Y axis Rotation about TOOL Z axis Gripper Figure 4 7 TOOL State Six Axis Robot 34 Chapter 4 Moving a Robot or Motion Device With the MCP Joint State When joint state is selected movement is about the axis of the specified joint Figure 4 8 shows an Adept SCARA robot with three rotational joints joints 1 2 and 4 and one translational joint joint 3 Positive rotation of joints 1 amp 2 is counter clockwise as viewed from above Positive rotation of joint 4 is clockwise as viewed from above Positive movement of joint 3 is downward Before the speed bars will move a joint the correct joint must be selected from the manual control buttons Different types of motion devices will have the different joint numbers assigned to their joints When you first move an unfamiliar robot using joint state set the monitor speed to 10 or lower put the robot in a safe area and carefully move the robot using the different joint numbers to verify how the MCP moves the robot See the documentation for the motion devices you are using for details on their joint assignments Figure 4 9 shows an Adept Cartesian robot with three translational joints and one rotational joint Figure 4 10 shows the joint assignments for a typical six axis robot as always the first time you move a robot carefully verify the joint assign ments Joint2 Jointt CD Joint
5. en moving in tool state directions are sent from the MCP to move the robot in a Cartesian coordinate system centered at the robot s end of arm tooling location In joint state directions are sent from the MCP to move individual robot joints In free state selected joints of the robot are freed from servo con trol so they can be moved by hand Mode Control Buttons The mode control buttons change the state being used to move the robot switch control of the robot between the MCP and application programs and enable ARM POWER when necessary The buttons are labeled in red Figure 4 1 Mode Control Buttons 27 Manual Control Pendant User s Guide Emergency Stop Button The emergency stop button will stop program execution and turn off ARM POWER In the AdeptOne AdeptThree and Adept PackOne the friction brakes will be activated COMP PWR Button If ARM POWER is enabled the COMP PWR button selects computer mode If ARM POWER is disabled the COMP PWR button enables ARM POWER and selects computer mode In computer mode an executing program or the system terminal has control of the robot MAN HALT Button When there is no program executing or a program has paused for a pen dant teach routine pressing the MAN HALT button selects manual mode In manual mode the MCP has control of the robot If a program is executing the MAN HALT button will stop program execution without shutting off ARM POWER Manua
6. er 4 Moving a Robot or Motion Device With the MCP 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 in section 4 2 The MCP must be in manual mode before a manual control button can be selected Speed Bars 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 Section 4 2 for details on positive and negative directions 1 Name l mw Fast Figure 4 2 Speed Bars Slow Button The slow button selects between the two different speed ranges of the selected speed bars When the slow button LED is lit the slower speed range is e200 S Figure 4 3 SLOW Button 29 Manual Control Pendant User s Guide 42 Robot States World State 30 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 4 4 I
7. f 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 The world coordinate system for a Cartesian robot is shown in Figure 4 5 If X1 is selected pressing the speed bar will move the robot tool flange in the positive X direc tion Pressing the speed bar will move the flange in the negative X direction X direction Ce TA Y direction Z direction a RZ CCW Rotation Gripper Activity Figure 4 4 WORLD State SCARA Chapter 4 Moving a Robot or Motion Device With the MCP X direction Y direction Z direction Gripper Rotation Gripper Activity Figure 4 5 WORLD State Cartesian The Tj button cycles the gripper solenoids Press anywhere on the side of the speed bar to open the gripper on the side to close the grip per 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 2 The utility CONFIG_R is used to configure gripper activity See the Instructions for Adept Utility Programs 31 Manual Control Pendant User s Guide 32 Tool State When tool state i
8. joints may be freed up In many cases the weight on the joint will be sufficient to move the joint and cause damage or harm For example when joint 3 on a SCARA or Cartesian robot is freed the joint is free to fall to the end of its travel In articulated robots multiple links of the robot may be free to fall when a single joint is freed up Be extremely careful when selecting a joint in free mode 3 On the Adept 604 S robot the joint 3 brake is never released To move this joint in free state you must use enough pressure to overcome the friction brake 38 Chapter 4 Moving a Robot or Motion Device With the MCP Joint2 jan 9 Joint 1 amp Joint 2 Free Joint 1 amp Joint 2 Free ei Joints Joint 3 Free Joint 4 Free Joint4 Gripper Figure 4 11 FREE State Four Axis SCARA 39 Manual Control Pendant User s Guide 43 Selecting Different Robots If your system is equipped with more than one robot or motion device you can select which device the manual control buttons will affect When manual mode is first entered device 1 will be selected To select device number 2 press the DEV F3 button Device number 2 will now be selected and the DEV 2 light in the manual state LED group will be lit To select device number 3 press the DEV F3 button again Device 3 will be selected and the DEV 2 LED will blink To re select device 1 press the DEV F3 button Remember When the
9. l mode cannot be entered if ARM POWER is off panic button LED not illuminated To enable ARM POWER press the COMP PWR button The MCP is in manual mode when 1 The LED on the MAN HALT button is illuminated and 2 One of the manual state LEDs is also illuminated the Manual state LEDs indicate the type of manual motion that has been selected either World Tool Joint or Free The system will remain in manual mode until ARM POWER is turned off or the COMP PWR button is pressed When you have finished moving the robot manually press the COMP PWR button to return control to the controller If a program attempts to execute with the MCP in manual mode the error Comp mode disabled will be generated When the MAN HALT button is pressed the first time the MCP will be in world state Pressing the MAN HALT button again selects the next state to the right tool joint free eventually wrapping back to the left most state world If manual mode is terminated and re entered without turning off system power the last active state is selected Manual Control Buttons The buttons on the far right side outlined in blue are the Manual con trol buttons When the MCP is in manual mode these buttons select 1 Tf the robot has not been calibrated and ARM POWER is turned on the MCP emergenc stop switch LED will be lit and both the COMP PWR and MAN HALT LEDs will be off 28 Chapt
10. s selected movement in the X Y or Z direction is along an axis of the tool coordinate system The tool coordinate system is cen tered at the robot tool flange with the Z axis pointing away from the flange The positive X axis is aligned with the center of the tool flange key way 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 direc tion In a four axis robot positive rotation of the gripper is clockwise as viewed from above Figure 4 6 shows the tool state for a four axis SCARA robot Figure 4 7 shows the tool coordinate system on a six axis robot NOTE Figure 4 6 and Figure 4 7 are drawn with the assumption that the TOOL transformation is set to NULL all values are 0 If a TOOL transformation is in effect the tool coordinate system will be offset and rotated by the value of the TOOL transformation Any motion in tool state will now be relative to the offset coordinate system and not the center of the tool flange See the V and V Reference Guide for details on TOOL transformations Chapter 4 Moving a Robot or Motion Device With the MCP X direction Y direction Z direction Rotation about Tool Z axis Gripper Figure 4 6 TOOL State 33 Manual Control Pen
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