3.1. Introduction
On this screen you control the initialization of the robot. When turned on,
the robot needs to find the positions of each joint. To get the joint positions, the
robot needs to move each joint.
Status LEDs
The status LEDs give an indication of the joints running state.
• A bright red LED tells that the robot is currently in a stopped state where
the reasons can be several.
• A bright yellow LED indicates that the joint is running, but dosn’t know its
present position and needs homing.
• Finally a green LED indicates that the joint is running correctly and is ready
to execute.
All the LEDs have to be green in order for the robot to operate normally.
Auto movement (Auto Buttons)
Normally it is always advisable to use the auto buttons to move the individual
joints until they reach a known state. In order to operate the button, you have
to press on the Auto button, and keep it pressed.
The auto buttons can be pressed individually for each joint, or for the whole
robot. Great care should be taken if the robot is touching an obstacle or table,
since driving the robot into the obstacle might damage a joint gearbox.
Moving directly (Move Buttons)
In the case where a joint is in a position where there is a major risk that uncon-
trolled motion would cause damage to the robot or its surroundings.
The operator can choose to home the robot manually for each joint. Each
joint needs to move until the status LED changes to green (see section 3.1.2.
36 UR-6-85-5-A
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