Universal Robots UR3/CB3, Оригинальное руководство пользователя, Страница: 136 / 256

13.1 Move Tab
with a spherical cone together with a vector indicating the current orientation of the robot tool. The
inside of the cone represents the allowed area for the tool orientation (vector).
When the robot TCP no longer is in the proximity of the limit, the 3D representation disappears.
If the TCP is in violation or very close to violating a boundary limit, the visualization of the limit
turns red.
13.1.2 Feature and Tool Position
In the top right corner of the screen, the feature selector can be found. It defines which feature to
control the robot arm relative to.
The name of the currently active Tool Center Point (TCP) is displayed below the feature selector.
The text boxes show the full coordinate values of that TCP relative to the selected feature. For
further information about configuring several named TCPs,
(see 13.6)
.
Values can be edited manually by clicking on the coordinate or the joint position. This will take you
to the pose editor screen
(see 12.2)
where you can specify a target position and orientation for
the tool or target joint positions.
13.1.3 Move Tool
• Holding down a
translate arrow
(top) will move the tool-tip of the robot in the direction
indicated.
• Holding down a
rotate arrow
(bottom) will change the orientation of the robot tool in the
indicated direction. The point of rotation is the Tool Center Point (TCP), i.e. the point at the
end of the robot arm that gives a characteristic point on the robot’s tool. The TCP is shown as
a small blue ball.
Note: Release the button to stop the motion at any time
13.1.4 Move Joints
Allows the individual joints to be controlled directly. Each joint can move from
−
360
◦
to + 360
◦
,
which are the default joint limits illustrated by the horizontal bar for each joint. If a joint reaches
its joint limit, it cannot be driven any further. If the limits for a joint have been configured with a
position range different from the default
(see 10.11)
, this range is indicated with red in the
horizontal bar.
13.1.5 Freedrive
While the Freedrive button is held down, it is possible to physically grab the robot arm and pull it to
where you want it to be. If the gravity setting
(see 13.7)
in the Setup tab is wrong, or the robot
arm carries a heavy load, the robot arm might start moving (falling) when the Freedrive button is
pressed. In that case, just release the Freedrive button again.
CB3 II-38 Version 3.10
Cop
yr
ight
©
2009–2019
b
y
Univ
ersal
Robots
A/S
.
All
rights
reser
v
ed.