Coordinated Jogging - ABB IRB 14000 Operating Manual

3 Using the IRB 14000

3.2.3 Coordinated jogging

3.2.3 Coordinated jogging
Introduction
The IRB 14000 robot is pre-installed with the RobotWare option MultiMove
coordinated, which makes it possible to jog the two arms in coordinated mode.
Coordinated jogging has to be setup by creating a coordinated work object. The
work object should be setup for the arm that is holding the work piece. The other
arm is holding the tool.
When the arm moving the work object is jogged, the other arm that is currently
coordinated with the work object will move so that it maintains its relative position
to the work object.
For more information about MultiMove and coordinated jogging, see Application
manual - MultiMove.
Setup coordinated jogging
Use this procedure to setup coordinated jogging.
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Activate coordinated jogging
Use this procedure to activate coordinated jogging.
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Tip
Use the MultiMove wizard in RobotStudio when setting up and programming
MultiMove.
Action
Create a work object for the arm that is to
be coordinated. That work object will be
held and moved by the other arm.
Define the data of the work object.
Set hobhold and ufprog to FALSE, set
ufmec to the other arm.
Optional, define x, y, z values for the work
object and define a tool for the other arm.
Activate coordinated jogging.
Action
Open the Quickset menu and select the
arm that is to be coordinated.
Activate the previously created work ob-
ject.
Select the work object coordinate system.
Select the other arm.
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Description
In this example the right arm is holding the
work object and the left arm is coordinated
to it:
PERS wobjdata wobjRight :=
[FALSE, FALSE, "ROB_R",
[[0,0,0],[1,0,0,0]],
[[0,0,0],[1,0,0,0]]];
Activate coordinated jogging on page 34
Description
The Quickset menu on page 32
Setup coordinated jogging on page 34
The coordinated arm is now indicated with
a flashing frame.
Operating manual - IRB 14000
3HAC052986-001 Revision: E