6 MOVING THE ROBOT WITH IRC
6.1.2 Navigation and movement of the robot in the 3D view
A 3-button mouse is recommended for navigating in the iRC - igus Robot Control 3D environment:
• Left button:
–
Selecting icons and functions in the menu.
–
Moving a robot axis: Place the cursor over a joint (it will be highlighted), then click and
move the cursor up and down while holding down the left mouse button.
• middle button/mouse wheel:
–
Navigate the scene to rotate the robot: Move the cursor while holding down the middle
mouse button.
–
Mouse wheel rotation: Zoom in/out to the current cursor position.
• Right button: move the image section.
The function of the left mouse button can be changed
in the "Scene" tab under "Navigate". The movement
options "Select", "Move", "Rotate" and "Zoom" are
available. "Reset" returns you to the home screen.
6.2 Connecting the robot
6.2.1 Hardware connection
The real robot can be controlled in the same way as the simulated one, only the hardware must first
be connected and activated by clicking the "Connect", "Reset" and "Activate" icons in the "Physical
Robot" button group in the "Motion" tab (see Fig. 5). After that, the robot must be referenced.
Figure 5: Buttons for connecting to the hardware, resetting errors and activating the motors, refer-
encing and "Status" display.
1. "Connect": Establish the connection to the hardware.
• This initializes the connection (mostly via Ethernet, in some cases via USB CAN adapter).
• The "Status" indicator on the left side changes from gray to red.
• Several error messages are displayed below the "Status" indicator.
2. "Reset": Resets the errors.
• This key is used to reset the error memories of the electronic modules of the robot con-
troller.
©2022 igus® GmbH
16