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orientation boundary limit is visualized with a spherical cone together with a vector indicating the
current orientation of the robot tool. The inside of the cone represents the allowed area for the
tool orientation (vector).
When the robot TCP no longer is in the proximity of the limit, the 3D representation disappears. If
the TCP is in violation or very close to violating a boundary limit, the visualization of the limit
turns red.
Feature and Tool Position
In the top right corner of the screen, the feature selector can be found. It defines which feature to
control the robot arm relative to.
The name of the currently active Tool Center Point (TCP) is displayed below the feature selector.
The text boxes show the full coordinate values of that TCP relative to the selected feature. For
further information about configuring several named TCPs,
Configuration on
page 127).
Values can be edited manually by clicking on the coordinate or the joint position. This will take
you to the pose editor screen
a target position and orientation for the tool or target joint positions.
Move Tool
• Holding down a translate arrow (top) will move the tool-tip of the robot in the direction
indicated.
• Holding down a rotate arrow (bottom) will change the orientation of the robot tool in the
indicated direction. The point of rotation is the Tool Center Point (TCP), i.e. the point at the
end of the robot arm that gives a characteristic point on the robot's tool. The TCP is shown
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
which are the default joint limits illustrated by the horizontal bar for each joint. If a joint reaches
its joint limit, it cannot be driven any further. If the limits for a joint have been configured with a
position range different from the default (see
indicated with red in the horizontal bar.
Freedrive
While the Freedrive button is held down, it is possible to physically grab the robot arm and pull it
to where you want it to be. If the gravity setting
page 130) in the Setup tab is wrong, or the robot arm carries a heavy load, the robot arm might
start moving (falling) when the Freedrive button is pressed. In that case, just release the
Freedrive button again.
UR10
(see 1.22.2. Pose Editor Screen on
1.20.11. Joint Limits on
(see 1.23.7. Installation → Mounting on
122
(see 1.23.6. Installation → TCP
page 117) where you can specify
page 96), this range is
∘
∘
to + 360
,
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