Free navigation allows the robot to be controlled directly without having to move to specific points. There are several possibilities.
Free navigation is only possible using the enabling switch, regardless of the activated user role.
Initialising
Attention: The safety stop function is deactivated during initialisation.
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Initialisation must be carried out each time the robot system is switched on if the power supply has been interrupted.
The robot can be initialised either manually or automatically. If there are obstacles in the immediate vicinity, manual initialisation is recommended to avoid collisions.
Free navigation / manual control
Navigation in the coordinate system
Rotation
It is possible to rotate around individual axes. The TCP always remains in the same position and the robot rotates around it.
Translation
Linear movements can also be executed. The robot moves linearly so that the TCP moves along the selected axis.
Navigation of the individual axes
Each axis can be selected and moved individually here. Multiple axes cannot be moved simultaneously.
Move to a specific pose
A specific robot pose can be defined either by a predefined orientation (Fig. 1) using coordinates or using an axis (Fig. 2) of the global coordinate system. As soon as the desired pose has been defined by the corresponding values, the potential axis positions are displayed via the robot's network model. To actually move to this axis configuration, first press "Start" and then "Move to". The "Move to" button must be held down so that the robot moves into the corresponding pose. The automatic movement sequence and possible collisions must be taken into account.
With both methods, the start button must be pressed first and then the 'Move to' button must be pressed until the desired position is reached.
Outputs
The current status of all inputs and outputs can be viewed here and the status of the outputs can be changed. The status of the inputs is signalled with OFF or ON. Each output can be switched directly via the corresponding 0/1 toggle button. For example, grippers can be opened or closed manually.
Register
The entries listed here only show a selection of the most important registers that can be addressed via Profinet and Modbus.
The entries are only displayed in this menu and cannot be changed.
The corresponding checkbox on the bottem left screen can be used to display additional internal registers.