Chapter 6: Basic Operation 47
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2. The bottom line of the screen indicates the selections. Press F1 (edit). This
opens the Editing screen.
3. Press F3 (motion). This opens the Manual Motion screen.
4. Squeeze the live-man switch.
• Adequate pressure, constantly applied, permits arm operation.
• No pressure, or excessive pressure, stops arm motion by shutting off arm
power. To restore arm power, turn on arm power at the arm power switch.
5. As you squeeze the live-man switch, press the axis keys (Ax1+, Ax1-, Ax2+,
Ax2-, etc.) to move each joint. Position the joint so that its pointer sits within
its starting zone. The location of pointer and zone labels are shown in the
diagram.
6. When you are finished positioning the joints, the arm should be in the homing
starting position. The arm is now ready to be homed.
Using the terminal
To use the terminal, follow these steps.
Before you begin, ensure that you:
• Have a terminal running by having either:
—A terminal emulator or the terminal window of Robcomm3 communicating
through the front panel console port and having control of the robot. (If not, at
the teach pendant, press Shift + ESC to transfer control), or
—The Command Prompt window of CROSnt communicating through the
SimSockD cable in the teach pendant’s port.
To move to the homing starting position:
1. Turn on arm power.
2. Set the speed to a slow value by entering
speed 10
Warning! Be prepared to strike an e-stop. When you use a command from the
application shell, the robot attempts to move to the commanded position, without knowing
if it is safe to do so. Use the proper joint number and distance value to avoid a collision.
3. Move joints with the joint command. For example, enter
joint 2, 10
joint 1, –5
For positive and negative directions of travel, examine the starting zone label
on each joint as shown in the diagrams below.
Application
test
1var 3motn
Manual Menu
1% VEL JOINT
3motn 4mode
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