Now imagine a pen fitted on the robot flange that must write the word COMAU on the table. $BASE transfor
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mation defines the point in which the robot base is, the $TOOL movement indicates the pen and the
$UFRAME movement indicates the position of the table in relation to the room.
MANUAL MOVEMENT
Manual movement of the arm (robot) is necessary under different circumstances including teaching positions
or maintenance of tools fitted on the arm. The ARM, TYP and keys on the right-hand part of the
programming terminal are dedicated to manual movement. The necessary conditions for performing the
movement are: Programming status, status selector on the control panel at the programming position
and the enable button on the programming terminal pressed.
Before starting the movement it is wise to choose the movement mode and speed. Using the TYP key it is
possible to select one of the following four modes, the abbreviation of which appears on the programming
terminal status window.
·
Jnt - joints mode. The keys are associated with each axis of the arm selected: any auxil
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iary axes follow those of the arm (typically keys and ). Pressing one of the
keys causes movement of the corresponding axis in the plus or minus direction according to the direc
-
tions given on the plates on the arm.
·
Bas - linear movement mode according to the world x,y,z reference tern (the workshop reference tern).
The first three keys allow linear movements in the direction of the three world reference
system axes; the next three keys allow rotation of the tool around the same axes keeping
the position of the TCP unchanged. Remember that the world tern is not directly defined by any system
variable; in fact it is the robot base that is represented with respect to the world through the $BASE vari-
able.
· Tol - linear movement mode according to tool x, y, z reference tern (or TCP tern). The first three keys
allow linear movements in the direction of the three tool reference system axes (defined by
$TOOL variable); the next three keys allow rotation of the tool around the same axes keep-
ing the position of the TCP (tool work point) unchanged.
·
Usr - linear movement mode according to the user x,y,z reference tern (for example the tern that de
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scribes the piece being machined). The first three keys allow linear movements in the di
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rection of the three user reference system axes (defined by $UFRAME variable); the next three keys
allow rotation of the tool around the same axes keeping the position of the TCP
unchanged.
The speed with which the manual movement will be carried out can be selected using the key
which acts on a percentage value that can be viewed on the status window. This percentage value is called
general override and does not only act on the manual movement speed but on all types of movement both in
the programming and automatic status.
The TCP movement speed during manual movement is always lower than the safety speed of 250 mm/s
also in the joints mode. In the Cartesian modes (Tol, Usr, Bas) the maximum speed that can be reached is
limited by the system variable $JOG_SPD_OVR which normally has a value of 50% (i.e. half the safety
speed). This value may be changed at will to adapt the normal manual movement speed to single program
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ming requirements.
Before performing a movement in the Cartesian modes (Tol, Usr, Bas) it is wise to check
the correct definition of the reference systems and in particular the statement of the tool tern
through the $TOOL variable. Incorrect tool description causes errors in point learning and
makes it impossible to keep the TCP position unchanged during movements for bearing rea
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sons only. A good method for checking that $TOOL is correct is to check that the TCP re
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mains fixed while changing the tool direction with the special keys .
MAIN OPERATIONS FOR SYSTEM USE C3G Plus
5-6 00/1097
ROBOT MOVEMENT IN PROGRAMMING STATUS
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