Main Controls Explained

The main function of the Main Controls is to switch on/off the robot and control the robot manually or automatic:

How to use main controls:

1. Switch on/off robot.
   Switch On

   

   Pressing this button will, switch the robot state from OFF_state to Engage_state. In Engage_state the robot is active and can be controlled.

   Switch Off

   

   Pressing this button will switch the robot state from Engage_state to OFF_state. In OFF_state, the robot is turned off.

After the system is switched on the Manual cart and Manual joint modes become visible in the Main Controls.

2. Pressing manual cart mode activates the cartesian coordination system. Enabling you to translate in x, y and z direction with Translation-joystick and rotate around x, y and z axes with the rotation-joystick.

   • Manual Cart Explained
   • Cart Translation Example
   • Cart Rotation Example
   
   

   Translation Joystick

   

   Translation-joystick contains two control elements: , to translate in x-direction use & y-direction use . With the second control , you can translate in z-direction.

   Rotation Joystick

   

   Rotation-joystick contains two control elements: , to rotate around x-axis use (phi) & y-axis use (theta). With the second control , you can rotate around the z-axis (gamma).

   
   

   

   
   

   

3. Pressing manual joint mode activates joint mode. Enabling you to rotate each joint independently from each other.

   • Manual Joint Explained
   • Joint Example
   
   

   Joint rotation Joysticks

   

   Joint mode contains 6 control elements with each the same function, is used to rotate each joint. joint 1 till 6 is respectively from left to right controlled.

   
   

   

4. The gripper is used to pick up and drop down items, enable Gripper will close the gripper.

• Deploy And Play Explained
• Deploy And Play Example

5. If you deployed a program, you can press play button to start the program. If the robot is not in it’s initial start position it will not start. You should bring the robot to its initial start position.

6. You can move the robot towards its initial start position by means of: pressing move to start and then keep pressing HOLD to move to start until the robot reached its start position. Now you can press play to start the program.

The program keeps running until it is done or interrupted.

7. You can press pause to temperately interrupt the program and press play to continue.
8. You can press stop to exit the running program.
9. You can adjust the timescale to slow down er speed up your robot program. at 0% the robot does not move, at 500% the robot moves with 5 times its initial speed.