Teach Pendant
Contents
1. EXECUTE To debug a program Press RUN twice then select number of program with keys 4 or the program name will appear near the number Press ENTER to execute The display will show the first line of the program Pressing ENTER will execute that line and move to the next program line User Manual 0112 23 Teach Pendant for Controller BRC Activating the Gripper EI Before using the gripper make sure the configuration value is set to the number of the output to which the gripper is connected Make sure the TP is switched to Teach mode Press DPEN CLOSE The gripper opens and closes as you press the button This command functions on both electric and pneumatic grippers The OPEN CLOSE key toggles the gripper between its open and closed states If the gripper was open it will now close and vice versa Moving the External Axis optional In case of installed external axis press EXT AXIS to select it The following will appear on the screen To move the axis in a positive direction press S To move the axis in a negative direction press S Movement will continue as longer than one word as the key is depressed or until the axis limit is reached User Manual 0112 24 Teach Pendant for Controller BRC 5 Teach Pendant Messages 148 169 The following is an alphabetical listing of the system messages which may appear on line 1 of the TP duri2. Indicates important information that should be mentioned to avoid damaging the devices Table of Contents T deu ci cu dus cu Cu Ea REVUE GER Ek OH GE Cu CV UE GER Ek OV Un CR Cu UH Lu ca Cu GR Un unu OH Lr Ga Cu GR Ln eR Cu EE OE uu 1 Teach Pendant is ia rA c aA a M A ELLA Ne td E 1 SI DOCIICATONG PP 2 Key DGSCHDMONS tc t dM UU 3 A to Teach SWIC I iere laden 3 Deadman te ce temm oit in a iM DUE 4 Emergency actos see sedet exe UD De Ue 4 Screen Descriptio NS t ce Du EE I m RE Emu 4 Mounted 5 Hand Held Teach Pendant 5 Auto and Teach MOUSS iioii otn Ott iot pt nep Hber 6 Operation eo RE OBRA Oen Lp eee eerste 7 2 WINS TATION E A AA A AAE 8 Installation of Teach Pendet 5 o eee i oo to utet 8 Turning On the Mam POWSF 8 Turning On the Servo Power nennen 9 SMEs RTI I III UM MM 10 Manipulatot VIOllOE ono arise oet DL t Ucet a 10 Joint Coordinates 10 Cartesian XYZ Tool Coordinates 12 Defining and Recording Positions eiii ecards 15 ATTACH Gommand ne Dodo Do RR ERR ES 1
3. Teach Pendant for Controller BRC User Manual 0112 The Z axis intersects the flange at its center point and is perpendicular to it The orientation of the Z axis relative to the flange is defined by the Z tool command The default is perpendicular to robot flange The X axis is horizontal and perpendicular to the Z axis The Y axis is vertical and perpendicular to both the Z and X axes Manual movement commands applied to the Roll Z Pitch or Roll axis will change the orientation of the tool while maintaining a constant TCP position RZ Rotates around Z Axis Pitch Rotates around horizontal axis User Manual 0112 14 Teach Pendant for Controller BRC Defining and Recording Positions JOINT TOOL JOINT JOINT TOOL Defining a position reserves space in Controller memory and assigns it a name Recording a position writes coordinate values to the allocated space in Controller memory The position is defined for the currently active group and receives the current values of the axes in that group The position coordinates are recorded in the currently active coordinate system You can also record previously defined positions by using the cursor keys to browse the list of positions Define a name in ACL Win then use the TP cursor keys to display the position name to record Depending on the active coordinate system RECORD records absolute and relative positions If you use a position name which has alre
4. Do not release the EXECUTE key until the robot reach the target position and the following message appears on the screen Activating the Digital Outputs Set Command The additional function of MOVE key is the Set Out command This command allows activating and disabling the digital outputs Press MOVE repeatedly to get the SplineL command appears on the command line Set Out Grp Robot JOINTS Enter the number of digital output that you want to operate and press ENTER Enter the value ON 1 OFF 0 and press ENTER Example To activate the digital output number 10 press MOVE 1 0 ENTER 1 ENTER User Manual 0112 20 Teach Pendant for Controller BRC 4 Using the Teach Pendant Setting the Speed Value The SPEED key sets the speed of manual axis movement as a percentage of maximum speed In Joint mode sets the percentage of maximum joint speed Speed is displayed Press SPEED to display the current speed Example Speed 50 _ Grp Robot JOINTS If in XYZ or Tool mode sets the percentage of maximum linear speed SpeedL is displayed Press SPEED to display the current speed Example Speed 50 _ Grp Robot XYZ Speed 50 Grp Robot TOO Press ENTER to accept the displayed default speed or use the numerical keys to set the desired speed Example To set the speed 100 press SP
5. controller s Hold switch has been pressed to Hold 1 CONTINUE CONTINUE AX s OUT OF RANGE PAR 9 Axis had out of range parameters 5 Q E H o c un N un a gt 2 un e e 3 3 un un c a mu o c 3 Wrong values were assigned to driver parameters EXTERNAL FAN FAIL External fan failure 269 CPU has detected the external fan failure Refer to the Maintenance instructions User Manual 0112 27 Teach Pendant for Controller BRC INTERNAL FAN FAIL 270 Internal fan failure CPU has detected the internal fan failure Refer to the Maintenance instructions ENC LOW BATTERY AX s 271 Warning Encoder low battery axis Encoder has detected low lithium battery voltage inside the robot SERVO POWER OFF 272 Warning Servo Power Off Appears when servo power is switched off while Control On is enabled CPU LOW BATTERY 287 Warning CPU low battery CPU detected low voltage of lithium battery for memory back up INVALID PROGRAM 306 Invalid program Faulty syntax or logic in the program DRIVER DC FAIL s 308 Driver voltage failure axes oo 6 Driver has detected low 5 voltage User Manual 28 Teach Pendant 0112 for Controller BRC
6. magnetic switch in the TP is activated thereby allowing programs to be run from robot s working envelope when program execution begins Verify that the TP fixture is installed out of reach of the robot before operating Hand Held Teach Pendant IMPORTANT When the TP is hand held the Deadman button must remain depressed at all times for TP operation Programs cannot be executed from a hand held TP These restrictions are for safety reasons User Manual 0112 5 Teach Pendant for Controller BRC The Auto Teach switch must be in the Teach position to enable the hand held TP full control of the axes In addition the Deadman button must remain depressed when this button is released the TP is inoperative Auto and Teach Modes Mounted Teach Pendant When the TP is mounted the Auto Teach switch affects control functions and system operation in the following ways When the switch is in the Teach position the TP has full control of the axes and programs can be run from the mounted TP Commands that can cause axis movement such as CON MOVE and RUN cannot be entered from the ACL Win interface When the switch is in the Auto position the TP is disabled except the Emergency button and the ACL Win interface has full control of the axes When the switch is moved from Auto to Teach running programs continue execution Control is transferred to the TP When the switch is moved from Teach to Auto running programs c
7. 29 262 263 268 optional in case of robot with limits The specified axis has reached its clockwise limit and the system aborted the movement Send the robot back into its working envelope CCLKWISE LIMIT AXIS s Counter Clockwise Limit axis optional in case of robot with limits oe 5 16 un e e zh c e Pal m un gt un e i 5 Cc e un Q o 3 or c m e e ien 5 un oO i 3 e B e un lt un B g A er OQ a i UNDER VOLTAGE AXIS s et 2 o lt B 5 et Nn 5 c ect ag o o e 23 S ect 5 Z e ua 5 a 5 09 3 lt d C o tj Q Hh lt fo ct Q ct X H o ox L e H lt o B un 5 e e E mh a o p lt e un e Q e Ce e un lt o 2 go oO g 3 a ion S 2 e e v 2 p lt un DPRAM WTCHDG AX s DPRAM watchdog error at axis oe DR NOT RESPOND AX s 9 ox H H lt K 3 er H n 5 Q H 5 Q et 9 x H n gt se Cc B 2 un 2 e c e o 3 et 2 e F lt c d E e g e 2 e un 3 Cc e m c e p lt un HT HOLD HOLD The
8. 7 Moving to a Recorded Position sssssseeeeeeeee 17 Joint Movement MOVE command 17 Linear Movement MOVEL command 18 Circular Path Movement MOVEC 18 Moving Through a Set of Positions By Joint MOVES Command 19 Moving Through a Set of Positions By Linear SPLINEL Command 19 Moves 20 Activating the Digital Outputs Set Out Command 20 4 Using the Teach Pendant aoada n qun eL Lan Rud 21 Setting the Speed Value 21 Running PEOOESITI ise aieo eedem deve En apunta Rid anies toxin cA mea des eed iue 22 Holding Running PIOSESITE 22 Aborting a PIOQFAlTI 23 Bebugdind a POS atrii tue 23 Activating the Gripper 24 Moving the External Axis Optional 24 5Leach Pendant Messages anne aaea Duda Qo CUR aaa Ta 25 WARNING Be sure to turn OFF power before inspection or maintenance Otherwise electric shock may result After turning OFF power wait at least five mi
9. EED 1 0 0 ENTER Speed 50 100 s 1x roo TROLL Grp Robot JOINTS ENTER User Manual 0112 21 Teach Pendant for Controller BRC Running Program JN WARNING Running program is allowed only if TP is in mounting fixture The ACL Win software automatically assigns an ID number the number in brackets after the program name in the Programs window to each user program Press RUN then select number of program with keys 4 or V the program name will appear near the number Press ENTER to execute Example To run the program IO press RUN A or ENTER Run IO Grp Robot JOINTS Holding Running Program RUN To suspend running programs press HOLD All running programs will suspended and the following appears on the screen To resume execution of the programs press RUN The following will appear on the screen Continue gt _ Grp Robot JOINTS and then press ENTER All programs will continue running and the following will appear on the screen CONTINUE User Manual 22 Teach Pendant 0112 for Controller BRC Aborting a Program IMPORTANT To abort running program press HOLD HOLD In case of emergency to abort all running programs press the emergency button Removing the TP from the mounting fixture in Teach mode will abort all running programs too Debugging a Program
10. H x 45 mm D Operating temperature 0 40 C Relative Humidity Less than 90 non condensing DC Voltage Current 5VDC 170mA Grounding Shielded frame shielded cable less than 100 Ohm Programming Language ACL Win Advanced Control Language Program Debugging On line program debugging User Manual 2 Teach Pendant 0112 for Controller BRC Key Descriptions Named Keys The keys which have a name on them are denoted with is shown as HOLD and E is shown SERVO ON Multifunction keys are used in the context of the operation being performed MEN For example E may be described in text as JOINT or XYZ or TOOL Axis Keys and Number Keys The axis keys or number keys are used in the context of the operation being performed may be described as 1 or S or X For example Symbol Keys The cursor keys are denoted with For example is shown J and is shown as 1 Auto Teach Switch The Auto Teach switch is for switching the Teach Pendant into Auto or Teach mode For detailed explanation of this modes see page 6 User Manual 3 Teach Pendant 0112 for Controller BRC Deadman Button When operating the hand held TP in Teach mode the Deadman button must remain depressed at all times to enable control the axes from the TP If the Deadman button is released when the hand held TP in the Teach mode all axes will b
11. P Operation Sequence The following basic sequence is used to operate the manipulator 1 Turn on the BRC controller 2 Teach positions on the robot 3 Check positions 4 Write program in ACL Win software User Manual 7 Teach Pendant 0112 for Controller BRC 2 Installation Installation of Teach Pendant w ARNING Verify that the TP fixture is installed out of reach of the robot before operating You can connect or disconnect the TP either before or after switching on the controller s power Before connecting or disconnecting the TP make sure the Auto Teach switch is in IMPORTANT Auto position The TP can be either hand held or mounted in a special fixture The operation of the TP will vary according to the manner in which it is held The Deadman button and the Emergency button ensure operator safety Turning On the Main Power When turning on the main controller s power the startup display is shown on the Teach Pendant screen Teach Pendant 1999 Yaskawa Eshed 0 8 abcdefghijklmn LI uvwxyzZ12345678 After finishing the startup diagnostics of the controller the screen changes to if the TP in Auto mode AUTO MODE or to if the TP in Teach mode Grp Robot JOINTS User Manual 8 Teach Pendant 0112 for Controller BRC Turning On the Servo Power SERVO ON OFF SERVO ON OFF SERVO ON OFF SERVO ON OFF SERVO ON OFF SERVO ON OFF Press SERVO ON to turn on the s
12. Teach Pendant for Controller BRC User Manual Catalog 100353 Rev A intelitek Copyright 2001 Intelitek Inc Catalog 100353 Rev A December 2001 Manual v 04 April 2000 Every effort has been made to make this book as complete and accurate as possible However no warranty of suitability purpose or fitness is made or implied Intelitek is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the software hardware and or the information contained in this publication Intelitek bears no responsibility for errors that may appear in this publication and retains the right to make changes to the software hardware and manual without prior notice INTELITEK INC 444 East Industrial Park Drive Manchester NH 03109 537 Tel 603 625 8600 Fax 603 625 2137 http www intelitek com info intelitek com Symbols for Safe Operation In this manual the NOTES FOR SAFE OPERATION are classified as WARNING CAUTION or IMPORTANT The following symbols are used N WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious personnel injury N CAUTION Indicates a potentially hazardous situation which if not avoided could result in minor or moderate personnel injury and or damage to the equipment It may also be used to alert against unsafe practices IMPORTANT
13. ady been defined the new coordinates will overwrite the existing ones To select the coordinate system press repeatedly The following screens will appear Grp Robot JOINTS Grp Robot XYZ Grp Robot TOOL Three types of position names are available Vector names such as PVEC 50 and PVEC 10 of up to twelve characters and an index The TP can record positions that have been defined previously in ACL Win An array of positions can then be attached to the TP by means of the ACL Win command ATTACH The vector positions can then be accessed from the TP by means of their index number Use the Cursor keys to browse the list of positions If a vector is attached to the TP this vector will always appear first wherever it is on the list of position names as if you had browsed to it You can continue to browse through the list of position names For more efficient programming define position vectors and record positions named according to the vector indices Alphanumeric names such as P POS10 A2 The name may be a combination of up to twelve characters and should begin with a letter These positions can be accessed from the TP by use of the cursor keys User Manual 0112 15 Teach Pendant for Controller BRC Numerical names such as 3 22 101 of up to five digits Positions with this type of name do not need to be defined in ACL Win before they are recorded the position recording command auto
14. as 183 DC 24 V failure Contact customer service SERVO SWITCH IS OFF ERVO switch is off 201 nN The controller s Servo switch is turned off ALL PROGS ABORTED ll programs aborted 205 p The TP Abort key has been pressed or the mounted TP has been removed from the fixture when running programs in the Teach mode SERVO ERROR 212 Error must be reset The controllers SERVO ON OFF switch is in the OFF position OVER VOLT AXIS 96s 218 Over Voltage axis oo THERM OVRLOAD AX s a gt c lt m eh gt Cc un Cc e Eh j 57 e Pal e ao ao un un m lt lt o gt 09 o Q c 2 5 5 c e 2 o Pal m Nn 219 H E 0 H 3 m Q O lt H m Q X H o ox OVER CURRENT AXIS 96s 9 220 Over Current axis Nn gt E c D un e E je e e e oO Pal e e ua un 4 lt e 5 lt Cc S ga c Hd c 3 md m 3 un 2 e B er o A The hardware has detected excessive current in the motor for the specified axis ENCODER ERR AX s 221 Encoder Error axis An incorrect encoder connection has been detected User Manual 26 Teach Pendant 0112 for Controller BRC 222 CLKWISE LIMIT AX s Clockwise Limit axis 223 225 227 2
15. e stopped and most of the keys on the TP will be inoperative Emergency Button The Emergency button is the red mushroom button on the face of the TP and its functions the same as the emergency button on the controller The emergency button can be activated regardless of the TP s location mounted or hand held or status Teach or Auto mode Press the button to activate pull it out to release When the button is pressed the system goes into the Emergency state Emergency state see BRC User Manual Screen Descriptions Four screen views are used in this manual to illustrate the Teach Pendant displays 1 2 d 4 Full Screen View The TP has 4 lines dot matrix liquid crystals display for displaying messages and commands being entered 1 2 Upper Screen View User Manual 0112 4 Teach Pendant for Controller BRC Line 1 displays system messages Line 2 displays system messages in the Auto mode and the last command entered in the Teach mode Subsequent commands are scrolled into Line 2 Middle Screen View Line 3 displays commands currently being entered and serves as a user interface Bs 4 Lower Screen View Line 4 displays currently state of the System coordinates and indicates by its color the condition of servo power in the Teach mode only Mounted Teach Pendant NWARNING When the TP is mounted in its special fixture with an internal magnet the special
16. enter the position number and press EXECUTE MoveC A Grp Robot JOINTS Do not release the EXECUTE key until the robot reach the target position User Manual 18 Teach Pendant 0112 for Controller BRC and the following message appears on the screen Moving Through a Set of Positions By Joint MOVES Command IMPORTANT The Spline command moves the robot through a set of positions by joint movements Press MOVE repeatedly to get the Spline command appears on the command line Enter the Do not release the EXECUTE key until the robot reach the target position and the following message appears on the screen Moving Through a Set of Positions By Linear SPLINEL Command IMPORTANT The SplineL command moves the robot through a set of positions by linear movements Press MOVE repeatedly to get the SplineL command appears on the command line Enter the SplineL _ Grp Robot JOINTS Do not release the EXECUTE key until the robot reach the target position and the following message appears on the screen User Manual 0112 19 Teach Pendant for Controller BRC MoveS Command IMPORTANT The MoveS command moves the robot through a set of positions by joint movements with an equal time interval between the positions Press MOVE repeatedly to get the SplineL command appears on the command line Enter the Grp Robot JOINTS
17. ervo control The following screen will appear lt enter gt Grp Robot JOINTS Then press EXECUTE to activate The following screen will appear CONTROL ENABLED Grp Robot JOINTS The text in the fourth line of display is inverted when the selected group is disabled Repeatedly pressed SERVO ON key will bring number of options for enabling the servo power Con applies power to robot motors in case that external axis is not present Coff cancels power to robot motors in case that external axis is not present ConR applies power to robot motors only in case that external axis is present CoffR cancels power to robot motors only in case that external axis is present ConP applies power to external axis only CoffP cancels power to external axis only ConALL applies power to robot motors and external axis CoffALL cancels power to robot motors and external axis To turn the servo power off press SERVO OFF The following screen will appear Coff lt enter gt Grp Robot JOINTS Then press EXECUTE to activate The following screen will appear CONTROL DISABLED mall Grp Robot JOINTS User Manual 9 Teach Pendant 0112 for Controller BRC 3 Teaching Manipulator Motion The robot is generally operated using three types of coordinate systems e JOINT encoder values e XYZ Cartesian coordinates e TOOL coordinates Joint Coordinates Joint coordinates s
18. matically defines and records positions with numerical names The TP simultaneously defines and records a position for numerical names of positions Use the axis movement keys to bring the robot to any location Record this as position 12 Press RECORD 1 2 ENTER Here 12 Grp Robot JOINTS You may press up to five digits for the position numerical name If you use a position name which has already been defined the new coordinates will overwrite the existing ones Move the robot to another position Press RECORD The TP automatically increments the position number definition name during successive record commands Here 13_ Grp Robot JOINTS Press ENTER Press repeatedly to display the following commands e Here records an absolute Joint position HereC records an absolute position according to the current location of axes records a position relative to another position by Joint coordinates e HereRC records a position relative to another position by XYZ coordinates e HereRT records a position relative to another position by Tool coordinates The above three commands require that you enter two positions the position that you want to record and the position to which it is relative Press RECORD enter the first position and press ENTER Then enter the second position Insert records a position in a vector and shifts all previously recorded positions o
19. nd the robot to that position For more information on movement commands refer to the ACL Win Reference Guide Repeatedly pressed MOVE key will bring different commands These commands define the mode of moving the robot to a target position Joint Movement MOVE command The Move command moves the robot by joint movement Assuming the robot is at position 13 send the robot back to position 12 Press MOVE 1 2 EXECUTE User Manual 17 Teach Pendant 0112 for Controller BRC Move 12_ Grp Robot JOINTS Do not release the EXECUTE key until the robot reach the target position and the following message appears on the screen If the EXECUTE key is released the movement is stopped immediately and the command is aborted Linear Movement MOVEL command The MoveL command moves the robot by linear movement Assuming the robot is at position 12 send the robot back to position 13 in a straight path Press MOVE repeatedly to get the MoveL command appears on the command line and then press 1 2 EXECUTE MowLl2 MoveL 12 Do not release the EXECUTE key until the robot reach the target position Grp Robot JOINTS and the following message appears on the screen Circular Path Movement MOVEC command The MoveC command moves the robot to a target position in a circular path Press MOVE repeatedly to get the MoveC command appears on the command line Then
20. ne place up in the vector allowed only for vector names starting with 96 Delete removes a position from a vector and shifts all higher positions one line down User Manual 0112 16 Teach Pendant for Controller BRC e Tframe calculates the coordinates of position within the tool frame according to the coordinates of three predefined system positions refer to the ACL Win Reference guide Use or 1 keys to browse the position names or use the numerical keys to enter the number of the position to delete Press ENTER to execute Define a name in ACL Win and then use or 1 keys to browse the position name to record allowed only for vector names starting with 96 Refer to the ACL Win Reference Guide for complete descriptions of the position recording commands ATTACH Command The ATTACH command is issued from the ACL Win software and allows you to select a vector position to be the default position for recording and moving commands issued from the TP In this way the User can record positions quickly When a vector is attached to the TP if you press RECORD the names of vector positions appears first You can then enter numbers to specify the particular element of the vector to record You can also use or 1 keys to browse the vector array and all other positions Only vectors can be used with the ATTACH command Moving to a Recorded Position Once a position has been recorded you can se
21. ng manual operation and program execution The explanation of each message includes the system s ID number for the message and the text of the comparable message which appears on the computer screen Refer to the BRC User Manual for complete descriptions of these messages and full instructions for correcting situations which cause the display of an error message HOME DONE New home position has been set Appears when user in ACL Win has set new home position WATCHDOG ERR AX s 5 K H lt K z ct Q D Q Q K K K X H CPU found watchdog is not correct on driver CONTROL DISABLED CONTROL DISABLED Motors have been disconnected from servo control CONTROL ENABLED CONTROL ENABLED Motors are now under servo control and can be activated EMERGENCY To perform action releas mergency button The emergency switch has been pressed BRAKE RELEASE ERROR Axis enabled brake already released or driver error Occurs during maintenance work on the controller if CON command is given after brakes have already been Execute COFF and then execute CON again User Manual 0112 25 Teach Pendant for Controller BRC ROM error 179 ROM Error Appears when the controller is undergoing maintenance in Terminal mode DC 24V FAIL 183 DC 24 volt failed 24V fail detected on CPU DC 5V FAIL 184 DC 5 volt failed Same
22. nutes before servicing the product Otherwise residual electric charges may result in electric shock CAUTION Never use the equipment where it may be exposed to splashes of water corrosive or flammable gases or near flammable materials Failure to observe this caution may lead to electric shock or fire GENERAL PRECAUTIONS Some drawings in this manual are shown as a typical example and may differ from the shipped product This manual may be modified when necessary because of improvement of the product modification or changes in specifications Such modification is made as a revision by renewing the manual number 1 Introduction The Teach Pendant TP for Controller BRC is a sophisticated portable terminal for operating and controlling the robot connected to the controller The TP is equipped with an Emergency push button an Auto Teach selector switch and a Deadman switch The TP can be either hand held thus disabling its ability to run programs or mounted in a special fixture outside the robot s working envelope thus enabling access to running programs Teach Pendant View DISPLAY KEYPAD MOUNTING FIXTURE Teach Pendant User Manual 1 Teach Pendant 0112 for Controller BRC Specifications Teach Pendant Specifications Item Specification Case Hand held enclosed frame Weight 420 g Dimensions 100 mm W x 195 mm
23. ontinue execution Control is transferred to the ACL Win interface after clicking the OK button in the window that appeared on the screen Hand Held Teach Pendant When the TP is hand held the Auto Teach switch affects control functions and system operation in the following ways When the switch is moved from Auto to Teach all running programs are aborted When the switch is in the Teach position the TP has full control of the axes provided the Dead Man button is depressed However programs cannot be run from the hand held TP Commands which can cause axis movement cannot be entered from the ACL Win interface When the switch is moved from Teach to Auto control is transfered to the ACL Win interface after clicking on the OK button in the window that appeared on the screen User Manual 0112 6 Teach Pendant for Controller BRC Teach Pendant Transition If the TP is put into or removed from the fixture while the switch is in the Auto position system operation is not affected If the TP is removed from the fixture while the switch is in the Teach position running programs are aborted If the Deadman button is released or not properly depressed during the removal of the TP from the fixture all axes will be stopped and the TP will be inoperative If the TP is put into the fixture while the switch is in the Teach position system operation is not affected Once the TP is in the fixture programs can be run from the T
24. pecify the location of each axis in encoder counts When the coordinate system is set to the Joint mode manual movement commands cause the robot to move one joint Other than the limitations of the robot s working envelope no restrictions apply when recording joint position coordinates nor when programming and executing joint movement commands Wrist Pitch Roll User Manual 10 Teach Pendant 0112 for Controller BRC S Rotates main body R Rotates upper arm User Manual 11 Teach Pendant 0112 for Controller BRC Cartesian XYZ and Tool Coordinates XYZ and Tool Coordinates are part of a geometric system used to specify the position of the robot s Tool Center Point TCP by defining its distance in linear units from the point of origin the center bottom of the robot base along three linear axes To complete the position definition the wrist pitch and roll of the gripper are specified in angular units The TOOL command defines the exact location of the TCP When the coordinate system is set to the XYZ or Tool mode Manual movement commands applied to the X Y or Z axis result in a linear movement of the TCP along the respective axis while maintaining a constant orientation of the tool User Manual 12 Teach Pendant 0112 for Controller BRC Z Moves in parallel with Z Axis Y Moves in parallel with Y Axis lt m Wf E d came Uu gt Seat X Moves in parallel with X Axis
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