User Manual for the Meca500 Industrial Robot (for rmware 10.1) 39
THE MECAPORTAL
The other major difference is that there are no text fields showing the position and orientation of
the TRF with respect to the WRF, next to each jogging bar, let alone visual cues for indicating whether
Cartesian jogging in one direction might soon reach a workspace limit. This is mainly because, in general,
jogging along and about the three axes of a reference frame have no one-to-one correlation to the
position coordinates and Euler angles used to represent the pose of the TRF with respect to the WRF.
Furthermore, other than mechanical interferences between non-adjacent links of the robot (which will
soon be avoidable), the factors that limit the robot workspace are the joints limits and the singularities,
which are already displayed in the robot position display, in the top right corner of the MecaPortal.
The keyboard shortcuts for Cartesian jogging are shown in Table 11.
Finally, you can jog in Cartesian mode using a joystick. Figure23c shows the Cartesian jog tab in the case
of the SpaceMouse.
Having multiple input modes for jogging activated simultaneously is unsafe. You should enable
only one input mode at a time: the mouse, keyboard shortcuts, or the joystick.
In Cartesian jog, when reorienting the end-effector using the Rx, Ry and Rz arrow buttons, you
do not modify independently each Euler angle, but rather rotate the TRF about axes passing
through its origin (the TCP) and coincident with its x, y or z axes, if the TRF option is chosen, or
parallel to the x, y or z axes of the WRF, if the WRF option is chosen.
6.8. The configuration menu
The configuration menu can be accessed from the top left corner of the MecaPortal window, . It
features the following sections:
• Robot information, such as the serial number and the complete version number of the firmware;
• Help, primarily links to documentation, the support website, and to the legacy web interface;
• Network configuration, such as entries of the IP address of the robot or the netmask,
• Joint limits, for reducing the joint ranges;
• Work zone limits and collision configuration, for preventing self-collisions and defining a work zone;
• Update firmware, for upgrading (or downgrading) the firmware of the robot;
• Get logs and backup, for downloading a complete backup (robot logs, persistent configuration data,
programs, etc.) or the latest robot logs only;
• Keyboard mapping, for listing all and changing certain keyboard shortcuts;
• Joystick mapping, for assigning robot jogging directions to joystick axes.
For example, when using the SpaceMouse for Cartesian jogging, it is particularly helpful to assign the
axes of the SpaceMouse so that they are aligned with the axes of the WRF as shown in Figure24. Jogging
in Cartesian mode, with the WRF option selected, becomes extremely intuitive.
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