Appendix C - Using the Manual Control Pendant (MCP)148 Adept SmartController User’s Guide, Rev. EFigure C-18 shows the joint assignments for a typical six-axis robot (as always, the firsttime you move a robot, carefully verify the joint assignments).Figure C-18. JOINT State (Six-Axis Robot)Free StateWhen free state is selected, individual joints are freed from servo control, and the robotbrakes (if any) are released. Unlike the other states, you can make multiple selections fromthe manual control buttons to free as many joints as required. In some cases, such as Joints1 and 2 on an AdeptOne/AdeptThree robot, multiple joints are freed by selecting a singlebutton. On some robots Free mode may have been disabled by the manufacturer on someor all joints.As soon as the COMP/PWR button is pressed, or another selection is made from themanual control buttons, all joints are placed back under servo control and will not movefreely.Figure C-19 shows the free state for a four-axis SCARA robot. The joint assignments in thefree state are the same as the joint assignments in joint state.T1RZ6RY5RX4Z3Y2X1STEPT1Joint 4Joint 5Joint 6Joint 4Joint 5Joint 6Gripper
