Staubli CS8C, Instruction Manual

Page: 135 / 248

CS8C © Stäubli 2009 –
D28070504A
135 / 248
Chapter 6 - Operation
6.7.3.
MOVEMENT IN CARTESIAN MODE
(FRAME, TOOL)
After the arm has been powered up, press the
Frame
button
(1)
on the
MCP
. The corresponding indicator light
comes on.
Figure
6.11
By pressing the keys in the set of movement keys
(2)
or one of the
Sel
keys on the
minijog (5)
, it is possible to
carry out movements along the three axis of the current coordinate system (
Frame
as default setting). These
movements are carried out in the positive direction (set of keys with the "+" sign) or the negative direction (set of
keys with the "-" sign).
The movements can be made in translation and rotation:
(see figures
6.12, 6.13, 6.14
)
•
In Translation (X, Y, Z keys):
A movement in the direction of the X axis is called X+, and a movement in the opposite direction to the X axis is
called X- (the same is the case for the Y and Z axes).
•
In Rotation (RX, RY and RZ keys):
Rotation around the X axis in the direction of X+ is called RX+, and a rotation in the opposite direction from the
X axis is called RX- (the same is the case for the Y and Z axes).
Specific case (Arm
RS
):
RZ
rotation is only possible if the
Z
axis of the current position coincides with the
Z
axis of the World mark.
RX
and
RY
rotations are without any effect.
Figure
6.12
2
5
1 6
4 3
Displacement
direction
Displacement
direction
X
RX
+
X
RX
-