2 Manipulator Coordinate Systems and Operations
2.4 Coordinate Frames and Manipulator Jogging
2-10
HW1485509
HW1485509
Fig. 2-6: Robot/Tool Toggle
Additionally, the membrane [Jog Keys] can be used for Joint Axis jogging
in Smart Frame Mode.
Each time the YRC Controller is turned off, Smart Frame will lose its
calibration. This calibration is used to align the frame of the pendant to the
base of the manipulator. For Smart Frame to accurately determine left,
right, etc. directions, it must be calibrated.
To calibrate, the operator holding the pendant should stand facing the
front of the robot and press the {CALIBRATE}. The calibration procedure
can be repeated at any time if the robot TCP motion does not reflect the
operator’s physical position.
CAUTION
If the accuracy of the sensor degrades during robot operation or the
alignment is not correct, re-calibration is required. The sensor should
be calibrated in any case where the pendant position does not appear
to be reflected correctly.
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