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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.
13.1.2 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, (see 13.6).
Values can be edited manually by clicking on the coordinate or the joint position. This will
take you to the pose editor screen (see 12.2) where you can specify a target position and
orientation for the tool or target joint positions.
13.1.3 Move Tool
• Holding down a translate arrow (top) will move the tool-tip of the robot in the direc-
tion 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
13.1.4 Move Joints
Allows the individual joints to be controlled directly. Each joint can move from
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
the horizontal bar.
13.1.5 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 (see 13.7) 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.
e-Series
10.11), this range is indicated with red in
II-36
13.1 Move Tab
360 to
360 ,
Version 3.11
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