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19
The selected action is determined by the active control mode, which is selected by the “Control Mode
Select” buttons (see Figure 19). The active control mode is determined by the orange “Control Mode
Select” button. The selectable control modes are:
1. Position Increment (POSITION): Click and releasing on the control arrows will increment the current
position of the joint by the determined “Position Increment” button number, in degrees.
2. Indexed Position Increment (JOG): Click and releasing on the control arrows will increment the
indexed position of the joint by the determined “Indexed Position” button number, in degrees. This
will only work if the manipulator is a kinematics device.
3. Velocity control (VELOCITY): Click and holding the control arrows will control the joint velocity, with a
value dependant on the value of the “Velocity Gain” slider (0-100%). Releasing the control arrows will
stop all movement of the manipulator.
The settings in the CONTROL panel (see Figure 19) are described below:
1. Position Increment Buttons: Pressing the control arrows while in “POSITION” mode will increment the
position by the value of the selected “Position Increment” button (in degrees).
2. Indexed Position Buttons: Pressing the control arrows while in “JOG” mode will increment the
indexed position value by the value of the selected “Indexed Position” button (in degrees). This will
only work if the manipulator is a kinematics device.
3. Velocity Gain Slider: Sets the speed of the joint when the control arrows are pressed.
4. Torque Output Slider: Set the percentage torque output of all the joints besides the jaw open and
close and inline rotate of all manipulators. It is recommended this remains at 50% when bench testing.
5. Grip Force Slider: Sets the amount of force applied by the jaws.
6. Product Selector: Dropdown box to select which product is the target of the Control Panel.
7. Position Preset Buttons: Click and holding the buttons will command the manipulator selected by the
“Product Selector” to move to the position preset with index given by the button’s number. Releasing
the button will stop the manipulator moving. These can be set in the Installation panel.
