AUBO AUBO-i10, Руководство пользователя

Страница: 97 / 179

V4.5
©2015-2019 AUBO.All rights reserved.
93
6 Simulation/real control switch button
Figure 10-7 Robot mode selection.
➢
When "Real Robot" is selected, the teach pendant will control the robot manipulator in real time.
➢ When "Simulation Robot" is selected, the 3D manipulator model operates but the real robot won’t
move. To finish a program, users can test whether the procedure is right, firstly, by simulation to
improve the safety of the robot's procedure.
7 Step Mode Control
Figure 10-8 Step mode control.
To improve the control accuracy and flexibility, it is necessary to increase the step mode control to allow the
controlled variable change precisely in a stepwise manner.
➢ Use step control mode by activating step mode.
➢
Click the button on both sides of input box to adjust the robot’s step length.
➢ Position step indicates the step length of the end position movement, unit: mm, range:0.2-10.00mm
➢ Orientation step indicates the step length of the end pose movement, unit: deg, range:0.1-10.00deg
➢ Joint Step indicates the step length of the joint movement angle, unit: deg, range:0.1-10.00deg
➢ Step mode control is valid to control the end position/orientation and joints only.
8 Position control
The end of manipulator is based on the base coordinate system, the end coordinate system or the user-
defined coordinate system to control robot movements. The end of manipulator can teach under different
coordinate systems.