while the hand guiding is being initiated. Wait until the enable button turns blue
and drive the robot by hand with the help of the OnRobot sensor.
NOTE:
Make sure that you do not touch the tool before the hand guiding is activated
(enable button turned to blue ), otherwise the robot can behave
abnormally (e.g..: the robot could move without any external force exerted). In
this case, press the zero button, while you are not touching the tool.
Make sure that you do not use the zero button while touching the tool.
To stop hand guiding the UR Robot, press the enable button .
NOTE:
The hand guiding could be configured (in the OnRobot installation page) to be
enabled with a single tap on the enable button (instead of holding)
and stopped with a second tap. However, the holding behavior is
recommended for increased safety.
NOTE:
Please always set the speed slider of the robot to 100% while using the hand
guiding to have an optimal user experience.
The zero button is intended to be used when the tool orientation is changed during hand
guiding, so that the eects of gravity or changes in the load of the robot can be neutralized.
The snap to axes button rotates the axes of the tool coordinate system to align with the
closest axes of the base coordinate system, disregarding negative or positive directions. This
allows the user to set the tool to face precisely horizontally, or vertically, after guiding by
hand.
NOTE:
If you are experiencing vibration, grab and guide the tool at the Center of
Gravity (roughly it is at the center).
6.2.3. RG2-FT
To open up the toolbar follow the instructions in the How to Access the Toolbar section.
The RG2-FT has a toolbar for gripping functionality and another toolbar for hand guiding. Both
are described below.
The toolbar for gripping functionality is shown below.
OPERATION
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