Virtual Pendant Control

Virtual Pendant Control Panel

This panel allows a user to jog the robot under manual control. A dynamic display is available that shows the current position of the robot in both world coordinates and joint coordinates. Controls are provided to enable power, disable power and home the robot. This control panel is available to individuals with all levels of access.

Virtual Pendant Control Panel Overview

1. Connection Indicator

This provides a visual indication of when the browser is connected to the controller. This indicator will spin when communication is active and will freeze when communication is momentarily lost.

2. Current Position

This panel displays both the Cartesian and Joint position for the selected robot. Only configured joints are displayed (up to 12).

3. Robot Selection

Allows the user to select the robot to be controlled by the virtual pendant. The "Current Position" displays the information for the selected robot.

4. Robot Status

This panel allows a user to perform basic robot operations. The "System state" indicates the robot's motor power state and execution status. The "Robot home" indicates if the robot has been homed.

5. Enable / E-Stop /Home

The Enable/E-Stop buttons manually enable and disable power to the motors. The home button will initiate the robot homing sequence. Homing is required when the system is powered up to establish the zero reference for each axis.

Please note, the E-Stop button is a convenience feature and is not intended as a replacement for a hardwired safety E-stop button.

6. Jog Control

This panel allows the user to manually move a selected axis in different modes. Robot power must be enabled to use this feature.

7. Jog Mode

There are 5 different modes to select from:

Computer	Computer Control permits an application program to control the motion of the robot (automatic mode) and all of the manual control methods are disabled.
World	Allows the user to jog the robot along a selected world coordinate axis. The user selects from X,Y,Z,Theta and jogs the robot manually in a straight line.
Tool	Allows the user to jog the robot along a selected axis in the coordinate system of the robot's tool (end effector).
Joint	Allows the user to jog a single axis of the robot.
Free	This is a special mode and it not available for all robot models. This feature allows the user to free up an axis so it can be physically pushed instead of jogged under power.

8. Select Axis/Joint

This list specifies the axis or direction of motion and dynamically changes based on the Jog Mode. In World/Tool modes, the user can pick world 'X,Y,Z,Theta'. In Joint/Free mode the user can pick individual joint axis (1-12) based on the configuration of the arm.

9. Jog Axis

These two buttons will jog the selected axis in the selected mode in a positive or negative direction. By holding down on the button, the robot will continue to move in the given direction. These buttons are disabled when the robot is in 'Computer' mode or if communication is lost to the controller for too long a period of time.

10. Adjust Speed

The user can adjust the overall jog speed by selecting one of the pre-defined number buttons, entering a value directly, or clicking on the the [+] and [-] buttons.