2 Manipulator Coordinate Systems and Operations
2.4 Coordinate Frames and Manipulator Jogging
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HW1485509
HW1485509
2.4.1 Smart Frame Mode
Smart Frame Mode makes Cartesian jogging more intuitive to the user. In
this mode, the manipulator moves in Cartesian directions relative to the
position of the Smart Pendant with respect to the robot base. There are
two panels in this mode as shown in fig. 2-4 “Smart Frame Panel” :
Robot and Tool.
Fig. 2-4: Smart Frame Panel
Robot Panel
This panel can be used to jog the position of the Robot TCP in directions
relative to the Smart Pendant using the {LEFT}, {RIGHT}, {TOWARD},
{AWAY}, {UP} and {DOWN}. For example, pressing the {LEFT} will always
move the robot in the left direction relative to the Smart Pendant even as
the position of the Smart Pendant changes.
Tool Panel
This panel can be used to jog the orientation of the Robot TCP as well as
move/rotate it along the TCP Z direction. To jog the orientation, press and
hold the {ROTATE} and then tilt the Smart Pendant in the desired
directions of orientation.
WARNING
Use of Smart Pendant in an area with strong geomagnetic disturbance
or around metal objects (such as wire fences or steel frames) may
result in manipulator motion directions not matching Smart Frame
jogging directions.
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