2 Manipulator Coordinate Systems and Operations
2.4 Coordinate Frames and Manipulator Jogging
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HW1485509
HW1485509
2.4.6 Hand Guiding Mode
Hand Guiding mode can be used on manipulators that have the PFL
(Power and Force Limiting) function for human collaborative operation (ex.
MOTOMAN-HC10) only. In this mode, the user can directly position the
Manipulator by physically moving the arm by hand.
To use the Hand Guiding mode, set and verify the following:
– Verify PFL function is ON. The Collaborative Operation LED (green
lamp) on the manipulator (ex. on the wrist for MOTOMAN-HC10) is
turned ON when PFL function is ON/Enabled.
– Tool is correctly configured. Refer to chapter 6.1 “Tool Settings”.
– Current tool number matches with the currently attached tool.
Check the Status Bar for the tool number.
– Jogging Speed is on High – initial speed setting can be changed for
accuracy and ease of motion.
There are three sub-modes in Hand Guiding mode:
– ALL JOINTS
– TOOL JOINTS
– XYZ+TOOL
When Hand Guiding mode is entered, the message shown in fig. 2-15
“Low Speed for Hand Guiding” will appear. In Low Speed, the robot can
be difficult to move with Hand Guiding (especially for large motions) and
can cause alarms if pressed too hard. Select {CHANGE TO HIGH
SPEED} to change the jogging speed or select {DISMISS} to remain in
Low Speed.
Fig. 2-15: Low Speed for Hand Guiding
Low Speed setting can still be useful for very fine motions.
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