Staubli CS8C, Instruction Manual

Page: 132 / 248

© Stäubli 2009 –
D28070504A
CS8C 132 / 248
When one of the movement modes is selected, the jog interface page is shown automatically on the
MCP
display
(see figure
6.9
).
To exit the page, press the
Esc
key. To return to the page, select a movement mode (
Joint
,
Frame
,
Tool
,
Point
).
Figure
6.9
Description of the jog interface page
(see figure
6.9
)
Whatever the movement mode selected, this page enables you to see:
•
The current tool
(1)
.
•
The current frame
(2)
.
•
The current position depending on the movement mode selected
(3)
.
•
In the
Joint
,
Frame
and
Tool
modes, a list of the Cartesian points for the current frame
(4)
.
•
In the
Point
mode, a list of all the Cartesian points for the application
(4)
.
•
A list of the points for the joints
(5)
.
•
For joint positions and cartesian points, a position marker may preceed the name of the data:
• ’ ’
indicates that the robot is exactly at the position.
• ’~’
indicates that the robot is near the position.
• ’0’
indicates that the position is null.
• ’!’
indicates that the position is not reachable with the current tool.
•
The step mode
(6)
, and, if enabled, the current step size. When the step mode is active, each manual movement
is a step of the specified size (in
mm
or degree). The step size can be easily modified by using the
<
and
>
keys.
It is also possible to move of several steps in one movement by pressing quickly several times the jog key. By
pressing
3
times the jog key, the robot performs a step of
3
times the initial step distance. The display of the step
size is updated with each key strike, and is reset to its default value when the movement is completed.
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2
3
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s6.5
@
s6.5