Robot Control; Move Tab - Universal Robots UR5 with CB2 User Manual

3.3. Robot Control

The expression is checked for grammatical errors when the Ok button is pressed.
The Cancel button leaves the screen, discarding all changes.
An expression can look like this:
digital_in[1]=True and analog_in[0]<0.5
3.3 Robot Control

3.3.1 Move Tab

On this screen you can always move (jog) the robot directly, either by translat-
ing/rotating the robot tool, or by moving robot joints individually.
Robot
The current position of the robot is shown in 3D graphics. Push the magnifying
glass icons to zoom in/out or drag a finger across to change the view. To get
the best feel for controlling the robot, select the "View" feature and rotate the
viewing angle of the 3D drawing to match your view of the real robot.
Feature and tool position
At the top right part of the screen, the feature selector can be found. The
features selector defines which feature to control the robot relative to, while
below it, the boxes display the full coordinate value for the tool relative to the
selected feature.
Values can be edited manually by clicking on the coordinate or the joint
position.
Move Tool
Holding down a translate arrow (top) will move the tool-tip of the robot
in the direction indicated.
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