FlexPendant Operators Manual 3HAC16590 ... - Technology

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3 Get started3.3.3. Jogging3.3.3. JoggingJoggingThis procedure details the main steps required to jog the robot.The term Jogging is described in section Introduction to jogging on page 105.Note that there may be more information available than the one referred to in the procedure.Step Action Info1. It is possible to jog the robot under thefollowing conditions:• The system has been started asdetailed in this manual.• no programmed operation isrunning• the system is in Manual mode.• the enabling device is pressedand the system is in Motors Onstate2. Many of the mechanical unitsconnected to the controller may bejogged.3. The robot may be jogged in severalways, in different coordinate systems.First, determine in which way you wantto jog.4. Once a mechanical unit has beenselected, its axes may be jogged indifferent ways.These ways may be selected using theQuickSet menu.5. Define the working range for the robot/robots as well as for any other pieces ofequipment working in the robot cell.The Manual mode is described insection About the manual mode onpage 228.Starting in the Manual mode is detailedin section Start up in manual mode onpage 231.How to switch to manual mode isdetailed in section Switching fromautomatic to manual mode on page235.How to determine which mechanicalunit to jog is detailed in sectionSelecting mechanical unit on page 108.The difference between different typesof jogging is detailed in sectionIntroduction to jogging on page 105.How to jog the robot axis by axis isdetailed in section Jog axis by axis onpage 114.The robot may be jogged in:• Jog in base coordinates on page116• Jog in tool coordinates on page120• Jog in world coordinates on page117• Jog in work object coordinateson page 119The robot’s working range is defined bysystem parameters. See sectionConfiguring system parameters onpage 270 or Technical referencemanual - System parameters.3HAC 16590-1 Revision: BContinues on next page59
3 Get started3.3.3. JoggingContinuedStep Action Info6. Jog the manipulator using the joystickon the FlexPendant.7. In some cases, more than onemanipulator may be joggedsimultaneously. This requires theMultiMove option to be installed.The FlexPendant and its various partsand sections are described in sectionWhat is a FlexPendant? on page 38.The joystick and how to map thedirections of it, is detailed in sectionSelecting motion mode on page 110.How to prevent causing manipulatormovements in certain directions whilejogging, is detailed in section Lockingthe joystick in specific directions onpage 122.There might be restrictions to how youcan jog, see section Restrictions tojogging on page 106.How to jog multiple manipulators isdetailed in section Coordinated joggingon page 107.603HAC 16590-1 Revision: B
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Operator’s manualFlexPendantIRC5M
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The information in this manual is s
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Table of Contents3.3.6 Backup and r
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Table of Contents6.9.3 Running a sp
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Page 11 and 12: OverviewContinuedPrerequisitesThe r
Page 13 and 14: Product documentation, M2004Continu
Page 15 and 16: 1 Safety1.2. Applicable safety stan
Page 17 and 18: 1 Safety1.3.1. Safety signals, gene
Page 19 and 20: 1 Safety1.3.2.2. DANGER - Moving ma
Page 21 and 22: 1 Safety1.3.3.1. WARNING - The unit
Page 23 and 24: 1 Safety1.3.4. What is an emergency
Page 25 and 26: 1 Safety1.3.6. What is safeguarding
Page 27 and 28: 1 Safety1.4.1. Stop the system1.4 H
Page 29 and 30: 1 Safety1.4.3. Extinguishing fires1
Page 31 and 32: 1 Safety1.4.5. Return to the progra
Page 33 and 34: 1 Safety1.5.2. For your own safety1
Page 35 and 36: 1 Safety1.5.4. Safety tools1.5.4. S
Page 37 and 38: 1 Safety1.5.6. Safety in automatic
Page 39 and 40: 2 Welcome to FlexPendant2.2. What i
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Page 49 and 50: 2 Welcome to FlexPendant2.6. Button
Page 51 and 52: 3 Get started3.2.1. Connecting a Fl
Page 53 and 54: 3 Get started3.2.3. Connecting a PC
Page 55 and 56: 3 Get started3.2.4. Set up the netw
Page 57 and 58: 3 Get started3.3.1. About the Actio
Page 59: 3 Get started3.3.2. System start up
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Page 65 and 66: 3 Get started3.3.6. Backup and rest
Page 67 and 68: 3 Get started3.3.8. Granting access
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Page 71 and 72: 3 Get started3.3.12. General proced
Page 73 and 74: 4 Navigating and handling FlexPenda
Page 107 and 108: 5 Jogging5.2.1. Restrictions to jog
Page 109 and 110: 5 Jogging5.3.1. Selecting mechanica
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5 Jogging5.3.2. Selecting motion mo
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5 Jogging5.3.3. Selecting tool, wor
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5 Jogging5.3.5. Jog axis by axis5.3
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5 Jogging5.3.6. Jog in base coordin
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5 Jogging5.3.7. Jog in world coordi
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5 Jogging5.3.9. Jog in tool coordin
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5 Jogging5.3.10. Locking the joysti
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5 Jogging5.3.11. Incremental moveme
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5 Jogging5.3.12. How to read the ex
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5 Jogging5.3.13. Quickset menu, Mec
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5 Jogging5.3.13. Quickset menu, Mec
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5 Jogging5.3.14. Quickset menu, Inc
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6 Programming and testing6.2.1. The
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6 Programming and testing6.3.1. Vie
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6 Programming and testing6.3.2. Cre
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6 Programming and testing6.3.3. Edi
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6 Programming and testing6.4.2. Def
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6 Programming and testing6.4.6. Set
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6 Programming and testing6.5.2. Def
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6 Programming and testing6.5.5. Del
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6 Programming and testing6.7.1. Han
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6 Programming and testing6.8.1. Mir
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6 Programming and testing6.8.2. Mod
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6 Programming and testing6.8.3. Mov
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6 Programming and testing6.9.1. How
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6 Programming and testing6.9.2. Run
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6 Programming and testing6.9.3. Run
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6 Programming and testing6.9.4. Qui
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6 Programming and testing6.9.6. Ste
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6 Programming and testing6.10.1. Ru
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6 Programming and testing6.10.3. Ca
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6 Programming and testing6.10.5. Lo
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7 Running in production7.1. Startin
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7 Running in production7.3. Using m
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7 Running in production7.4. Returni
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7 Running in production7.5.1. Prese
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7 Running in production7.5.3. About
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7 Running in production7.5.4. Start
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7 Running in production7.5.6. Runni
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7 Running in production7.5.8. Switc
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7 Running in production7.5.10. Swit
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8 Handling inputs and outputs, I/O8
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9 Handling the event log9.2. Deleti
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9 Handling the event log9.3. Saving
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10 Systems10.2.1. What is “the me
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10 Systems10.2.2. The structure of
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10 Systems10.2.3. File handling10.2
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10 Systems10.3.2. Using the boot ap
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10 Systems10.3.2. Using the boot ap
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10 Systems10.3.4. Restart and selec
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10 Systems10.3.6. Restart and delet
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10 Systems10.3.8. Restart from prev
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10 Systems10.3.9. Reflashing firmwa
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10 Systems10.4.1. What is saved on
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10 Systems10.4.3. Restore the syste
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10 Systems10.5.1. Configuring syste
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10 Systems10.5.1. Configuring syste
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11 Calibrating11.2. Updating revolu
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11 Calibrating11.3. Loading calibra
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11 Calibrating11.5. Fine calibratio
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11 Calibrating11.6. Serial Measurem
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11 Calibrating11.6. Serial Measurem
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11 Calibrating11.7. 4 points XZ cal
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12 Changing FlexPendant settings12.
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13 Descriptions of terms and concep
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Indexprograms 165filteringabout 101
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Indexaxis computer 263contactor int
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Index318
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