Keba Kemro KeTop T10, Руководство по проектированию устройства

Страница: 20 / 91

adjusting jog speed and positive or negative direction the joystick is used. So
the direction and movement of the thumb always directly corresponds to the
robot movement, which is the most intuitive way. The joystick can also be
moved toward the operator to make intuitively a movement of the robot towards
the operator.
The buttons on the KeTop T10 can be used for selecting different jog modes
and coordinate systems. The display can be used for showing selected modes
and additional information, such as error status. The following chapter gives a
suggestion, how to use a KeTop T10 for jogging a robot.
3.3.1 Suggestion for jog functions
As the robot control is in charge of the jog functions, any modifications are
possible. The suggested function set is a typical implementation which has
proved useful in field tests by KEBA.
The KeTop T10 provides a joystick with a button function which is used for
jogging or moving the robot. The jog operation can be switched between Car-
tesian coordinates and robot joints. Furthermore the KeTop T10 provides a
new motion mode for the alignment of the Tool Center Point (TCP) without
changing the position, called "virtual handle mode".
Jogging in Cartesian space
One of the following Cartesian modes can be chosen:
●
Free mode (free movement)
●
Coordinate mode - movement of the robot is aligned to coordinates (“snap-
to-grid”)
In free mode the direction of the KeTop T10 directly gives the direction of
movement without aligning to a coordinate system.
In coordinate mode the directions are defined by a selected coordinate system
(
world
/
object
/
tool
). Also several tool coordinate systems can be defined
and selected. The axis of movement is selected by the direction of the KeTop
T10 itself and corresponds to the axis of the coordinate system which is closes
to the axis defined by the length dimension of the KeTop T10. Coordinate mode
can be seen as a kind of “snap-to-grid” variant of the free motion mode.
Advantage of the free mode is that any arbitrary direction of robot motion can
be achieved. Coordinate mode is useful for jogging very precisely when fine
adjusting robot position.
The joystick is used to control the jog speed and in either translation or rotation.
Deflecting the joystick forward and backward activates translation along the
selected (= pointed with the device) axis. Deflecting left and right activates
rotation around the selected axis. This way position and rotation of the robot
can be changed in alternation very easy without any operation mode switching.
Thus the movement of the thumb directly corresponds to the produced move-
ment of the robot. A simultaneous translation and rotation is locked by the
firmware. Therefore an oblique diagonal deflection of the joystick results in the
System overview KeTop T10
© KEBA 2014
Project engineering manual V1.02 20