Mecademic Meca500 - 7.2. LEDs; 7.3. External connections; 7.3.1 Stop Category 1 Emergency Stop; 7.3.2 Stop Category 1 Protective Stop (P-Stop 1)

36 User Manual for the Meca500 Industrial Robot (for rmware 10.1)
THE MECAPORTAL
You can also drag the thumbs of the jogging bars using the secondary mouse button (Figure21b).
Doing so, it is the mouse horizontal velocity (rather than relative position) that is mapped to the robot
joint velocity. Additionally, clicking the left or right arrow buttons with the secondary mouse button
commands a single incremental joint displacement, with the increment specified in the specified in the
text field at the bottom of the jogging panel.
You can also directly specify the joint value by entering the joint angle in the text field next to each
jogging bar. Note that each text field changes to yellow when the joint position is close to one of its limits
or to a singularity (joints 3 and 5 only), or to red, when the joint position is at a limit or at a singularity, as
is the case with the robot position display in the 3D view panel. In addition, the little triangle underneath
each bar indicates the relative joint position with respect to the joint limits.
You can use keyboard shortcuts to jog the robot by activating the toggle button . Table 11 shows the
default keyboard shortcuts for jogging the robot. The shortcuts are active only if the toggle button is
selected and the mouse cursor is over the jogging panel, in which case the panel is surrounded by a blue
frame. You can change most of these shortcuts in the configuration menu, .
Table 11: Keyboard shortcuts for jogging (focus must be on jogging panel)
DEFAULT KEYBOARD SHORTCUTS FOR JOGGING
Shortcut Action
Shift+q
*
or q
Rotate joint 1 or move end-effector along x-axis, in negative direction
Shift+w
*
or w
Rotate joint 1 or move end-effector along x-axis, in positive direction
Shift+a
*
or a
Rotate joint 2 or move end-effector along y-axis, in negative direction
Shift+s
*
or s Rotate joint 2 or move end-effector along y-axis, in positive direction
Shift+z
*
or z Rotate joint 3 or move end-effector along z-axis, in negative direction
Shift+x
*
or x Rotate joint 3 or move end-effector along z-axis, in positive direction
Shift+e
*
or e Rotate joint 4 or rotate end-effector about x-axis, in negative direction
Shift+r
*
or r Rotate joint 4 or rotate end-effector about x-axis, in positive direction
Shift+d
*
or d Rotate joint 5 or rotate end-effector about y-axis, in negative direction
Shift+f
*
or f Rotate joint 5 or rotate end-effector about y-axis, in positive direction
Shift+c
*
or c Rotate joint 6 or rotate end-effector about z-axis, in negative direction
Shift+v
*
or v Rotate joint 6 or rotate end-effector about z-axis, in positive direction
Shift+arrow
*
or arrow Jog along each of the four directions chosen in the jogging pad
1 Open Cartesian jog panel and select TRF mode
2 Open Cartesian jog panel and select WRF mode
3 Open joint jog panel
. Toggle between TRF and WRF mode, if Cartesian jog panel open
- Reduce jog velocity
= Increase jog velocity
*
Hold Shift for continuous jog, otherwise robot will jog in increments.
Finally, you can jog the robot using either our MJ3 3-axis USB precision joystick (Figure22a) or the
SpaceMouse® 6-axis joystick from 3Dconnexion (Figure22b). To use the MJ3 or the SpaceMouse, you