I/O Tab - Universal Robots UR5 with CB2 User Manual

Holding down a rotate arrow (button) will change the orientation of the
robot tool in the indicated direction. The point of rotation is the TCP , drawn
as a small blue ball.
Note: Release the button to stop the motion at any time!
Move Joints
Allows the individual joints to be controlled directly. Each joint can move from
360 to +360 , which are the joint limits illustrated by the horizontal bar for each
joint. If a joint reaches its joint limit, it cannot be driven any further away from 0 .
Teach
While the 'Teach' button is held down, it is possible to physically grab the robot
and pull it to where you want it to be. If the gravity setting (see 3.3.7) in the
Setup tab is wrong, or the robot carries a heavy load, the robot might start
moving (falling) when the 'Teach' button is pressed. In that case, just release
the 'Teach' button again.

3.3.2 I/O Tab

On this screen you can always monitor and set the live I/O signals from/to the
robot. The screen displays the current state of the I/O, inluding during program
execution. If anything is changed during program execution, the program will
stop. At program stop, all output signals will retain their states. The screen is
updated at only 10Hz, so a very fast signal might not display properly.
The electrical details of the signals are described in section 2.1.
Analog Range Settings The analog output can be set to either current [4-
20mA] or voltage [0-10V] output. The analog input ranges adjusted to be from
[-10-10V] to [0-5V]. The settings will be remembered for eventual later restarts of
the robot controller when a program is saved.
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3.3. Robot Control
UR5