[RobotStudio study notes] (two) manual operation

Manual single-axis operation

1. Turn on a robot system, turn on the virtual teach pendant
2. Click menu-manual operation-action mode , you can see that there are four action models below, of which axis 1-3 and axis 4-6 are single-axis operations, followed by linear operation and repositioning operation, here select axis 1-3 , Click OK.
   
   
   
3. You can see the robot's position information and joystick direction on the right side of the manual operation interface. The arrow in the direction of the joystick corresponds to the arrow of the teach pendant controller, and the number represents the serial number of the axis. For example, the first one represents the up and down arrows control the movement of the two axes, the down arrow is the positive direction, the second represents the left and right arrows control the movement of the 1 axis, the third represents the clockwise, and the counterclockwise button controls the movement of the 3 axis. If you want to control 4-6, click the action mode to select axis 4-6.
   

Manual linear operation

1. Enter the manual operation menu bar, you can see that the current action mode is single-axis action, and the coordinate system is not selectable.
   
2. Click the action mode to change the action mode to linear . After confirming, you can see that the coordinate system at this time can be selected.
   
3. Enter the coordinate system menu, you can see that there are four coordinate systems, which are geodetic coordinates, base coordinates, tool coordinates, and workpiece coordinates.
   
4. First look at the geodetic coordinates. After selecting the geodetic coordinates to confirm, you can see that the position information on the right side of the controller becomes the xyz coordinate value. The direction of the joystick also becomes xyz, and the geodetic coordinate system is based on the coordinate system in the lower left corner of the robot view.
   
   
5. Base coordinate system, select the robot base, you can see that there is a coordinate system, at this time xyz is determined along this coordinate system.
   
6. Tool coordinates, you can see that there is an item in the menu bar for tool coordinates tool0, this coordinate system is based on the coordinates of the sixth joint at the end of the robot.
   
   
7. Workpiece coordinates, you can see that there is one item in the menu bar for workpiece coordinates tool0, this coordinate system is based on the coordinate system of the workpiece.

Relocation operation

1. Open the virtual teach pendant, manual operation-action mode , switch action mode to repositioning.
   
2. Back to the menu bar of manual manipulation, you can see that the coordinate system at this time is a tool, and the tool coordinate is tool0
   
3. Press the arrow of the teach pendant and observe it manually. You can find that the position coordinate XYZ does not change at all.
   
4. Hiding the claws, it can be seen that during the movement of the system, the position of the center point of the sixth joint remains unchanged.
   
   

Switching the action mode

1. Switch the operation mode on the left side of the joystick, the second button is to switch between repositioning and linear, and the third button is to switch between axis 1-3 and axis 4-6. The current operating mode is displayed in the lower right corner of the panel.
   
2. Click the icon in the lower right corner of the teach pendant, you can see the detailed information of the robot system, here you can also change all the options in the manual operation menu bar.