AUBO i5 - Page 7

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vii
Preface V4.3
Manual mode ............................................................................................................ 78
Shutdown: Normal exit: Click the close button on the upper right of the teach
pendant interface. Mandatory shutdown: Press and hold start up button on the upper left of
the teach pendant for about 3s. The blue light off indicates the teach pendant and the
manipulator are powered off. Linkage mode ........................................................................ 78
Teach Pendant Enable Switch ................................................................................... 80
9. TEACH PENDANT ........................................................................................................ 83
Turn on the Teach Pendant .......................................................................................... 83
Shut Down the Teach Pendant .................................................................................... 84
10. TEACH PENDANT USER INTERFACE ................................................................. 85
Coordinate System .................................................................................................... 85
Base coordinate system ................................................................................... 85
End coordinate system .................................................................................... 86
Initial Interface .......................................................................................................... 86
"Robot Teaching" User Interface .............................................................................. 86
Software shut down button ............................................................................. 87
Menu ............................................................................................................... 88
Robot 3D display window .............................................................................. 88
Simulation/real control switch button ............................................................. 89
Step Mode Control .......................................................................................... 89
Position control ............................................................................................... 89
Robot real-time status parameter display ........................................................ 90
Orientation Control ......................................................................................... 91
Joint axis control ............................................................................................. 92
Zero Pose, Init Pose ...................................................................................... 92
Motion speed control .................................................................................... 93
I/O Control Interface ................................................................................................. 93
Controller I/O Tab ........................................................................................... 93
User I/O ........................................................................................................... 94
Tool I/O Tab .................................................................................................... 94
Robot Setting Tab...................................................................................................... 96
InitPose ........................................................................................................... 96
Tool Calibration .............................................................................................. 97
Tool Kinematics Calibration ................................................................................... 98
Tool Dynamics Calibration ................................................................................... 100
Tool Calibrate ........................................................................................................ 101
Coordinate Calibration .................................................................................. 102
Safety ............................................................................................................ 107
System Settings Tab ................................................................................................ 108
Language Tab ................................................................................................ 108
Date& Time tab. ............................................................................................ 109