What Is A T10 - ABB IRC5 with T10 Operating Manual

2 What is a T10?

Introduction
The T10 is a jogging device used to jog manipulators and mechanical units in an
intuitive way by pointing the device in the direction of movement.
When using a FlexPendant for jogging, a predefined coordinate system is selected,
such as world coordinates or tool coordinates, and the manipulator moves in the
desired direction along the selected coordinate system.
Using the T10 for jogging is quite similar, but instead of selecting a coordinate
system, the direction is shown in space with the device itself. For example when
jogging vertically the T10 is held in vertical direction, when jogging horizontally
the T10 is held in horizontal direction, etc. This is achieved thanks to the built in
inertial measurement unit, consisting of accelerometers and gyroscopes, which
measure the motion of the device in space.
The joystick is used for adjusting the jog speed and the positive or negative
direction. The forward and backward movement of the joystick corresponds directly
to the movement of the manipulator, which is the most intuitive way. The left and
right movement of the joystick is used for reorientation.
Prerequisites
The RobotWare option 976-1 T10 Support is necessary to run the T10 with the
IRC5 robot controller.
Limitations
The base coordinate system is used for all jogging movements. See
reference direction on page
Operating manual - IRC5 with T10
3HAC050943-001 Revision: C
23.
© Copyright 2017 ABB. All rights reserved.
2 What is a T10?
Setting the
Continues on next page
17