9.2.2. Move Robot into Position
Description Access the Move Robot into Position screen when the Robot Arm must move to a
particular start position before running a program, or when the Robot Arm is moving to a
waypoint while modifying a program.
In cases where the Move Robot into Position screen cannnot move the Robot Arm to the
program start position, it moves to the first waypoint in the program tree.
The Robot Arm can move to an incorrect pose if:
•
The TCP, feature pose or waypoint pose of the first movement is altered during
program execution before the first move is executed.
•
The first waypoint is inside an If or Switch program tree node.
Accessing the
Move Robot
into Position
Screen
1. Tap the Run tab in the header.
2. In the Footer, tap Play to access the Move Robot into Position screen.
3. Follow the on-screen instructions to interact with the animation and the real robot.
Move robot to Hold down Move robot to: to move the Robot Arm to a start position. The animated Robot
Arm displayed on-screen shows the desired movement about to be performed.
NOTICE
Collision can damage the robot or other equipment. Compare the
animation with the position of the real Robot Arm to ensure the Robot Arm
can safely perform the movement without colliding with any obstacles.
Manual Tap Manual to access the Move screen where the Robot Arm can be moved by using the
Move Tool arrows and/or configuring Tool Position and Joint Position coordinates.
User Manual 114 UR30
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