Chapter 8 - Using the Manual Control Pendant (MCP)
78 AdeptSix 300CR Robot Instruction Handbook, Rev. A
TOOL Coordinate System (TOOL Mode on the MCP)
All motions are parallel to the TOOL coordinates. Joint X is attached by the groove in the
tool attachment clamp. Specify RX, RY, and RZ rotations with respect to the TOOL
coordinates. Use the + or - speed bar key to specify motions. See Figure 8-3.
Figure 8-3. Tool Mode
Coordinate System Definitions
The points below provide information about the coordinate system.
• To locate a point in space (3D), a coordinate system is used.
• The coordinate system is represented by the origin and the X Y Z perpendicular
axis.
• The orientation of these 3 axes follows the RIGHT HAND rule. See Figure 8-4.
Figure 8-4. Right Hand Rule
Rotates around Y- axisRotates around X- axis
Rotates around Z -axis
RX-
RX+
RY-
RY+
RZ+ RZ-
RX
RY RZ
X
Y
Z
X
Y
Z
X: Thumb
Y: Index Finger
Z: Middle Finger
X: Index Finger
Y: Middle Finger
Z: Thumb
OR
