Teaching
Start teaching your robot the points you will be using in your recipe.
Configure your jogging.
Note: make sure the drive is enabled before trying to jogging.
- The Jog Panel allows you to specify your jogging configuration.
- Here you can change your jogging speed percentage and your jogging offset distance (in degrees).
- Most importantly you can change between Joint and Cartesian/Linear robot jogging.
- Once the desired configuration has been chosen you can now jog all six joints/axes in either a positive or negative direction (if Joint) or even rotate around an axis. (if Linear/Cartesian)
- PC Mode: press enable button on the bottom action bar.
- Teach Pendant Mode: press deadman switch on teach pendant.
(From Left to Right)
- Load Button allows you to load/import a previously saved Points file.
- Save Button allows you to save your Points to a file.
- Selected Point Label displays the current selected point in the teaching table.
- Edit Button allows you to edit the selected point's positions.
- Duplicate Button allows you to duplicate a selected point.
- Arrow Up Button allows you to move a selected point up a row.
- Arrow Down Button allows you to move a selected point down a row.
- Plus Button allows you to add a new point. (The positions of your new point will be the robot's current position)
- Delete Button allows you to delete a selected point.
- Clear All Button will clear all points from the Teaching Table.
- Go Button allows you to move to a selected point if and only if the robot is enabled.
- Home Button allows you to move to the home position if and only if the robot is enabled.
(From Left to Right)
- POINT displays the index of the point in regards to the Teaching Table.
- J1 refers to the robot's 1st/Base Joint degree position.
- J2 refers to the robot's 2nd Joint degree position.
- J3 refers to the robot's 3rd Joint degree position.
- J4 refers to the robot's 4th Joint degree position.
- J5 refers to the robot's 5th Joint degree position.
- J6 refers to the robot's 6th/Head Joint degree position.
- X refers to the robot's x-axis position in meters in relation to the WC. (The World Coordinates' or "WC" origin is located at the middle point between both robots)
- Y refers to the robot's y-axis position in meters in relation to the WC.
- Z refers to the robot's z-axis position in meters in relation to the WC.
- A refers to the robot's rotation over the x-axis in degrees.
- B refers to the robot's rotation over the y-axis in degrees.
- C refers to the robot's rotation over the z-axis in degrees.
- Abort Button allows you to abort the selected/active Robot's current motion.
- Enable Button allows you to enable your Robot's amp. (In other words, enabling your robot provides motor power)
- Abort All Button allows you to abort both Robots motion.
Last modified 2yr ago