Keba Kemro KeTop T10, Руководство по проектированию устройства

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activation of the movement (translation/rotation) which is interpreted by the
device.
The direction of the KeTop T10 can be changed during active jogging at any
time. This results in a continuously changing motion direction in free mode and
a direction jumping from one axis of the coordinate system to the next in aligned
mode (= integrated tracking functionality).
Jogging robot joints
The keypad is used for toggling jog mode between Cartesian mode and joint
mode. In joint mode the joystick is used for jogging the active joint. The active
joint can be selected by the keypad (keys "Plus" and "Minus").
Virtual handle mode ("grabbing")
When the joystick is pressed, the Tool Center Point (TCP) follows directly any
orientation change of the KeTop T10. This gives the impression of grabbing
the TCP directly and changing the orientation manually. So the KeTop T10
serves as a virtual handle of the TCP. The position of the Tool Center Point
itself is unchanged. Due to safety standards the rotation speed of the robot is
limited in virtual handle mode. When the KeTop T10 is rotated nearly in the
allowed speed limit in grab operation, a warning is displayed, and if the speed
is too high, the robot movement will be stopped.
All motion functions (translation, rotation, grab) are locked against each an-
other to prevent unexpected behavior of the robot.
KeTop T10 System overview
© KEBA 2014
Project engineering manual V1.02 21