Manual Movement Dialog Box
Recording a robot position (in Joint coordinates) is done by manipulating the robot to the required position and then recording it. The Manual Movement dialog box allows direct control and manipulation of the robot and peripheral axes.
The Manual Movement dialog box is automatically opened when a project is opened, or when the Window | Teach & Edit display setting is selected.
To open the Manual Movement dialog box when there is no open project, select View | Manual Movement.
Manual Movement Dialog Box (Joints)
The following chart explains how clicking the buttons in the Manual Movement dialog box (or pressing the corresponding keys on the keyboard) controls the robot and peripheral movements.
When Joints is selected, clicking the buttons (or pressing the corresponding keys on the keyboard) moves one robot axis at a time, as described below:
| 1 / Q | Rotates the BASE right and left. |
| 2 / W | Moves the SHOULDER up and down. |
| 3 / E | Moves the ELBOW up and down. |
| 4 / R | Moves the wrist (PITCH) up and down. |
| 5 / T | Rotates the wrist (ROLL) right and left. Can be configured for a peripheral axis |
| 6 / Y | Opens and closes gripper via servo control. Can be configured for a peripheral axis. |
| 7 / U | Moves peripheral axis #7 (if connected). |
| 8 / I | Moves peripheral axis #8 (if connected). |
When XYZ is selected, clicking the buttons (or pressing the corresponding keys on the keyboard) moves the TCP, as described below.
Movements in XYZ mode are sometimes a combination of simultaneous movements of a few axes.
| 1 / Q | TCP moves along X-axis (back and forth). |
| 2 / W | TCP moves along Y-axis (right and left). |
| 3 / E | TCP moves along Z-axis (up and down). |
| 4 / R | Axes move in order to change the gripper’s pitch angle; the TCP position does not change. |
| 5 / T | The gripper rolls; the TCP position does not change. |
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Completely opens the gripper. |
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Completely closes the gripper. |
The robot can be manipulated from the Manual Movement dialog box before it has been homed in Joint mode only. In fact, it is often necessary to bring the robot into a more suitable position before initiating the homing routine.