Adept technology Adept XUSR Spécifications Page 150
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- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
Moving a Robot or Motion Device with the MCP
Adept SmartController User’s Guide, Rev. H 149
The following figure shows the joint assignments for a typical six-axis robot (as always,
the first time you move a robot, carefully verify the joint assignments).
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 state may have been disabled by the manufacturer on some
or all joints.
NOTE: Free state, also referred to as Free mode, is disabled on Adept
Viper, AdeptSix, and Adept Quattro robots.
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-19 on page 150 shows 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.
T
1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
STEP
T
1
Joint 4
Joint 5
Joint 6
Joint 4
Joint 5
Joint 6
Gripper
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- Shipping and 1
- • Equipment Demos 1
- Adept SmartController 2
- Table of Contents 6
- List of Figures 12
- List of Tables 14
- Introduction 1 16
- Optional Adept T1/T2 Pendant 17
- 1.3 How Can I Get Help? 18
- Adept Document Library 19
- 1.5 Safety 20
- System Safeguards 21
- 1.6 Standards Compliance 22
- Identification 23
- Functionality Changes 24
- E-Stop Circuit 24
- 2.1 Controller Installation 26
- Repacking for Relocation 27
- Space Around the Chassis 27
- Mounting the SmartController 27
- CompactFlash Memory Card 31
- ™ (CF). The CompactFlash is 31
- CompactFlash 32
- Compartment 32
- Eject Button 32
- Connecting Power 33
- Frame Ground 34
- Grounding Point 35
- 2.2 System Cable Installation 36
- SmartController Operation 3 38
- SmartController CX 41
- 3.3 Front Panel 42
- Factory Default Settings 43
- DIP-Switch Settings 43
- RS-232 Connectors 45
- RS-422/485 Connector 46
- Equipment 50
- Pin 1Pin 13 51
- Pin 14Pin 25 51
- Line E-Stop 54
- (External User 54
- E-Stop system) 54
- Adept Front Panel Schematic 55
- Remote Manual Mode 57
- User Manual/Auto Indication 57
- High Power On/Off Lamp 58
- Remote Pendant Usage 59
- DeviceNet Connector 60
- XDIO Connector 60
- (Typical Examples) 61
- Encoder Channel 1 67
- Encoder Channel 2 67
- AdeptVision sAVI Option 4 68
- 4.2 Camera Compatibility 69
- 4.3 Camera Cables 70
- To Camera connector on 71
- Auxiliary 72
- Connector 72
- 4.4 Installing Camera Cables 73
- Installing Camera Cables 74
- Pin Function Notes 75
- Pin Function 76
- From: Pin To: Pin Function 78
- Function 81
- Maintenance 5 84
- SmartController 84
- Technical Specifications 6 86
- 6.2 sDIO Dimensions 87
- Adept Front Panel Dimensions 88
- All dimensions are in mm 90
- 6.6 Adept MCP Dimensions 91
- Adept MCP Dimensions 92
- A.1 Mounting the sDIO 94
- Rack-Mounting the sDIO 95
- Panel-Mounting the sDIO 96
- A.2 Installing the sDIO 97
- A.3 Configuring an sDIO 98
- Recommended 103
- Configurations 103
- - + - + 104
- A.6 sDIO Digital I/O Signals 105
- (equivalent circuit) 106
- Ω @ 85° C (Ron 0.4 Ω 109
- Optional DIO Cables 110
- Adept DeviceNet B 116
- CONFIG_C 118
- DeviceNet Connectors 121
- ¼ W resistor to 122
- ----------= 124
- Appendix B - Adept DeviceNet 125
- Using the Manual 126
- Control Pendant (MCP) C 126
- Figure C-2. Holding the MCP 129
- Figure C-3. Cradling the MCP 129
- Connecting the MCP 130
- MCP Layout 131
- Emergency Stop From the MCP 133
- C.2 MCP Predefined Functions 134
- REAL LOC 135
- EDIT DISP 138
- Introduction 141
- Mode Control Buttons 141
- Joint/Axis Control Buttons 143
- Speed Bars 144
- Slow Button 144
- Robot States 145
- Gripper 150
- Numerics 154
- 5960 Inglewood Drive 159
- Pleasanton, CA 94588 159
- 925•245•3400 159
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