OnRobot VGC10, Руководство пользователя, Страница: 108 / 213

Operation
108
initiated. Wait until the enable button turns blue and drive the robot by hand with the help
of the OnRobot sensor.
NOTE:
Make sure that you do not touch the tool before the hand guiding is
activated (enable button turned to blue
), otherwise the robot
can behave abnormally (e.g..: the robot could move without any external
force exerted). In this case, press the zero
button, while you are not
touching the tool.
Make sure that you do not use the zero button while touching the
tool.
To stop hand guiding the UR Robot, press the enable button .
NOTE:
The hand guiding could be configured (in the OnRobot installation page)
to be enabled with a single tap on the enable button
(instead
of holding) and stopped with a second tap. However, the holding
behavior is recommended for increased safety.
NOTE:
Please always set the speed slider of the robot to 100% while using the
hand guiding to have an optimal user experience.
The zero button is intended to be used when the tool orientation is changed during hand guiding, so
that the effects of gravity or changes in the load of the robot can be neutralized.
The snap to axes button rotates the axes of the tool coordinate system to align with the closest
axes of the base coordinate system, disregarding negative or positive directions. This allows the us er to
set the tool to face precisely horizontally, or vertically, after guiding by hand.