OnRobot VGC10 User Manual page 105

Operation
NOTE:
It is possible to activate or deactivate axes during hand guiding.
To start hand guiding the UR robot, first make sure that you do not touch the tool and then press and hold
the enable button
initiated. Wait until the enable button turns blue
of the OnRobot sensor.
NOTE:
Make sure that you do not touch the tool before the hand guiding is
activated (enable button turned to blue
can behave abnormally (e.g..: the robot could move without any external
force exerted). In this case, press the zero
touching the tool.
Make sure that you do not use the zero
tool.
To stop hand guiding the UR Robot, press the enable button
NOTE:
The hand guiding could be configured (in the OnRobot installation page)
to be enabled with a single tap on the enable button
of holding) and stopped with a second tap. However, the holding
behavior is recommended for increased safety.
NOTE:
Please always set the speed slider of the robot to 100% while using the
hand guiding to have an optimal user experience.
The zero button is intended to be used when the tool orientation is changed during hand guiding, so
that the effects of gravity or changes in the load of the robot can be neutralized.
The snap to axes button
axes of the base coordinate system, disregarding negative or positive directions. This allows the us er to
set the tool to face precisely horizontally, or vertically, after guiding by hand.
. The button turns to an hourglass
rotates the axes of the tool coordinate system to align with the closest
icon while the hand guiding is being
and drive the robot by hand with the help
), otherwise the robot
button, while you are not
button while touching the
.
(instead
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