25.Move Tab
On this screen, you can move (jog) the robot arm directly, either by translating/rotating the robot
tool, or by moving robot joints individually.
25.1. Move Tool
Hold down any of the Move Tool arrows to move the robot arm in a particular direction.
•
The Translate arrows (upper) move the robot tool-tip in the direction indicated.
•
The Rotate arrows (lower) change the orientation of the robot tool in the indicated direction.
The rotation point is the Tool Center Point (TCP), i.e.the point at the end of the robot arm that
gives a characteristic point on the robot’s tool. The TCP is shown as a small blue ball.
25.2. Robot
If the current position of the robot TCP comes close to a safety or trigger plane, or the orientation
of robot tool is near the tool orientation boundary limit (see 21.11. Planeson page125), a 3D
representation of the proximate boundary limit is shown. When the robot is running a program, the
visualization of boundary limits is disabled.
Safety planes are visualized in yellow and black with a small arrow representing the plane normal,
which indicates the side of the plane on which the robot TCP is allowed to be positioned. Trigger
planes are displayed in blue and green and a small arrow pointing to the side of the plane, where
the Normal mode limits (see 21.8. Safety Modeson page123) are active. The tool orientation
User Manual 239 UR5e
25.Move Tab
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