2.3.5.3 Device Movement

Using the Kinematics function, you can create links and joints for a component and jog them later to create poses. A component with kinematics is a device at its simplest level and a robot at a more complex level.

Joint Jog

The Joint Jog option enables you to move the joints of a selected device or robot, provided that its links and joints are already defined.

1. Select a device or a robot, either in the Graphic Viewer or in the Resource Tree.
2. Select Kinematics > Joint Jog from the menu bar to open the Joint Jog window with a list of all the joints defined.
3. You can change the pose of the robot by moving the slide bar under Steering/Poses to the left or right or changing the value.
4. You can change the Lower Limit and Upper Limit to configure the limit of the robot's movement.

Figure: Robot Joint Jog

Mark Pose & Pose Editor

After you move the joints of a device or a robot with the Joint Jog option, you can save the new pose using Mark Pose option. The Mark Pose option enables you to save the current position of a device or robot as a pose. The pose is automatically save in the Pose Editor. By default, all robots or devices have a Home pose, with which you can return the robot to its original position. The saved poses are the prerequisite for creating a device operation later in Process Simulate.

• Select Kinematics > Mark Pose from the menu bar or click the Mark Pose button to save the current pose.
• Select Kinematics > Pose Editor from the menu bar or click the Pose Editor button to open the Pose Editor window.
• Select Kinematics > Home from the menu bar or click the Home button to return the robot to its original position.

Figure: Robot Pose Editor