Mecademic Meca500 - The Jogging Panel

34 User Manual for the Meca500 Industrial Robot (for rmware 10.1)
THE MECAPORTAL
and 4 are highlighted in yellow. The Meca500 can cross singularities when moving with Cartesian-space
commands, but the resulting motions are rarely optimal and should be avoided in production mode.
Another set of highly useful features can be accessed in the selection menus on the right of each of the
three rows of data. You can select to either copy the data that is shown in the corresponding row by
pressing the icon on the right (the icon is changed to ) or insert a specific command with arguments
corresponding to the current robot position (the icon is changed to ). In addition, in the case of the
first row of data, you can choose to show either the joints calculated or actual positions, the joints
calculated or actual velocities, or even the joints torques. Similarly, in the case of the second row of data,
you can choose to show either the calculated or actual pose of the TRF with respect to the WRF, or the
calculated or actual Cartesian velocity of the TRF with respect to the WRF.
Table 10 shows the default keyboard shortcut for copying data from the robot position display or
inserting instructions with that data at the current cursor in the code editor.
Table 10: Keyboard shortcuts related to current robot position and reference frame definitions
DEFAULT KEYBOARD SHORTCUTS RELATED TO CURRENT ROBOT POSITION
Shortcut Action
Alt+j
Insert MoveJoints command with current joint set as arguments
Alt+l
Insert MoveLin command with current TRF pose as arguments
Alt+p Insert MovePose command with current TRF pose as arguments
Alt+c Insert SetConf command with current posture configuration
parameters as arguments
Alt+w Insert SetWrf command with current WRF pose as arguments
Alt+t Insert SetTrf command with current TRF pose as arguments
Alt+Shift+j Copy current joint set
Alt+Shift+p Copy current TRF pose with respect to the WRF
Alt+Shift+c Copy the current posture configuration parameters
Alt+Shift+w Copy the current definition of the WRF
Alt+Shift+t Copy the current definition of the TRF
6.7. The jogging panel
The jogging panel is used to jog (move) the robot in several different ways (in the Cartesian or joint
space) and with several different input devices (mouse, keyboard shortcuts or joystick). Once a desired
robot joint arrangement is reached, you can use the context menu in the program editor field to insert a
motion command with current joint set or TRF pose.
The jogging panel is enabled whenever the robot is ready to receive AND execute new motion
commands. Every motion that can be commanded in the jogging panel can also be performed by
sending commands from the code editor panel, though in a much less user-friendly manner. For safety
reasons, when jogging, the robot can move only up to 50% of its maximum speed.
The jogging panel has two tabs that will be described in the following sections.