Rainbow Robotics RB Series, User Manual

Page: 97 / 440

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
97
7.3 TEACHING (PROGRAMMING)

Ways to Move the Robot

Direct-teaching
: When a user manually rotates each joint to change the pose of
the robot.

Jogging : When a user uses the jog buttons in the UI to move the robot.

Direct-teaching
The ‘gravity compensation’ algorithm allows the robot to keep its pose when set by a
user. For ‘Direct-teaching’, a user must press and hold the mechanical button
located on the Tool flange. Pressing this button allows each joint to move freely.
The red circle in the diagram above indicates the location of the button.
Warning
Warning:
1)
‘
Direct-teaching’ can be used only when the robot is initialized and started up.
2) The load value in ‘Setup-Tool’ should be set prior to using ‘Direct-teaching’ when a
tool is installed at the Tool flange. Without a proper value of the load, ‘Direct-
teaching’ may not work properly.
3) In ‘Setup-Interface’, the sensitivity of joint reaction can be adjusted.
4) Make sure that the robot is not moving before using ‘Direct-teaching’.