Move Tool for CB7

Translate

You use the Translate tab to move the robot arm linearly along a chosen axis (X, Y, Z) to change the position of the tool in space.

 
Rotate

You use the Rotate tab to change the orientation of the robot tool about a chosen axis (RX, RY, RZ), without changing its linear position.

 

Using the Move tool

The Move tool contains two fields and two tabs:

  • Active Frame

  • Active TCP

  • Translate

  • Rotate

     
 

  1. Tap the Active Frame field.

    These five options are available:

    • world

    • base

    • flange

    • tcp

    • view

  2. Select the frame you want the robot to move relative to.

  3. Tap the Active TCP field and select your preference.

  4. Tap the Translate tab.

  5. Tap the plus-minus button of the X, Y, and Z coordinates to move the robot arm in the indicated direction.

    On the main screen, you can see the corresponding movement, as indicated by the red, green, and blue straight arrows of the robot arm.

     

  6. Tap the Rotate tab.

  7. Tap the plus-minus button of the RX, RY, and RZ coordinates to change the orientation of the robot in the indicated direction.

    On the main screen, you can see the corresponding movement, as indicated by the red, green, and blue circular arrows of the robot arm.
 
 

 

 

View frame for jogging

When you select view in the Active Frame field on the Move screen and in the Joystick Overlay, the robot jogs relative to the current 3D view frame. Tapping the Translate or Rotate buttons and pushing a joystick away from you moves the robot arm according to your viewing direction in the 3D Viewer, so the on-screen arrows correspond to how you are looking at the robot.

View frame for jogging

The view frame follows the 3D view as you rotate it. Only rotation around the vertical axis is used, so tilting or rolling the 3D view does not change the jog directions. Jogging stays in the horizontal plane.

The view frame exists only while jogging. Waypoints and positions taught while view is selected are stored relative to world, and the Reference Changed dialog states world as the new reference.

The view reference is also available when you jog with the TCP tool and the Smart Skills tool. For jogging with those tools, see the TCP Tool and the Smart Skills Tool.