Nortech Systems XUSR User Manual
Appendix C - Using the Manual Control Pendant (MCP)
146
Adept SmartController User’s Guide, Rev. E
Figure C-16. TOOL State (Six-Axis Robot)
T1
RZ
6
RY
5
RX
4
Z
3
3
Y
2
X
1
STEP
Rotation about
TOOL X axis
TOOL X axis
Rotation about
TOOL Y axis
TOOL Y axis
Rotation about
TOOL Z axis
TOOL Z axis
Gripper
RX
RY
RZ
T1