boroughTeaching interface
VAL3 version 5.2.1
The purpo of this document is to explain the u of the teaching / jogging interface on the Staubli SP1 pendant. It us VAL3 version 5.2.1, but other versions are similar. The illustrations shown are from the PC emulator. The actual pendant has a different keyboard layout. See the diagram below comparing the two.
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Loading an Application
To enter the teaching interface, you must have an application already loaded. Most customers have applications t to auto start so it will already be loaded. While teaching can be done with an application running, it is better to stop the application. If an application is not loaded, plea load it at this time as shown below.
Press menu until the main menu is displayed. U the up and down arrow to highlight the Application Manager. Press the right arrow or enter key. Press the F7 open key. Press Right arrow to expand the disk entry. Arrow down to highlight your application and press the F8 OK key.
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Manual Mode and Arm Power
Teaching locations is done in manual mode. Switch to manual mode by pressing the mode lect but绯闻女孩第一季高清下载
ton until the manual LED is light up. The manual symbol is a picture of a hand. Remove the pendant from its holding cradle. Relea and reapply the robot enabling device (deadman switch) and press the arm power button. On the emulator click on the “System” menu. Uncheck Parking and check deadman, then press the arm power button. Arm power should come on in 2 to 3 conds. If it does not there will be a pop up message, for example an open e-stop, stating why arm power did not come.
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Jogging Mode
Press one of the four jogging mode buttons on the pendant. They are joint, frame, tool and point. The LED beside the chon mode will illuminate.
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Tool Selection
dominicThe first time you go in to the jogging screen will be asked to lect a tool to be ud for teaching. You will have to expand the “flange” listing to e the tools variables. If there is more then one application loaded in memory, the tool you lect will determine which application’s locations you will e and teach.
If you need to modify a tool variable, you can open a tool for editing from this screen by press the F3 edit key. U the arrows keys to lect the value you want to change and press enter to edit. For numbers, the system will automatically t shift lock to on. If you leave and return to the jogging screen, it will remember the last tool and frame ud.
It is also possible to create new tool variables by pressing the F6 new key or delete existing tool variables by pressing the F5 del key. You cannot delete a variable if it is ud in your application.
Frame Selection
Next you will be asked to lect a frame for jogging. If you have frame variables in your application, you can expand the world entry to e them.
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It is also possible to create new frame variables by pressing the F6 new key or delete existing frame variables by pressing the F5 del key. You cannot delete a variable if it is ud in your application.
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Selecting Another Tool or Frame
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If your tool lection is incorrect or if you want to lect another frame, press the F8 lect button on
the interface. Do not teach points with the wrong tool lected. If you have joint, frame, or tool lected, only points in the lected frame will be shown in the teaching interface.
