Learn how to use Hand Guiding to jog and teach welding jobs with compatible Human Collaborative robots.
General
Hand guided motion is available on Human Collaborative (HC) robots. This allows users to direct and teach robot motion by applying external force to the robot arm.
Additionally, if too much force is applied the Power and Force Limiting (PFL) system may be tripped causing the robot to halt.
This must be reset using the amber light on the B-Axis of the robot.
Activating Hand Guiding
The following steps outline how to start hand guidance:
Select the Hand Guiding mode from the drop-down menu on the Smart Pendant header.
Activate SERVOS
Increase the jogging speed of the robot to High or Top.
Move Button
The robot can be moved by short pressing the Move DT button on the side of the robot’s wrist.
In Weld Builder, you have the option of moving the robot in one of two different hand guidance modes.
These modes are XYZ + Tool and TCP Rotate. This makes jogging easier in context of welding.
XYZ + Tool
Fixes the tool orientation while allowing motion within 3D space. This helps keep the torch
aligned to the part while hand guiding.
TCP Rotate
Fixes the position of the current tool’s TCP while allowing rotation around the TCP.
This allows reorientation of the torch during hand guidance.
Teach Button
Depressing the Teach DT button will program the robot’s current position into the active job. This function has a consistent effect across the application.
The motion type of the robot to the current positon can be changed by selecting the move typ on the Smart Pendant.
Tool Button
The Tool DT button is used for wire feed and wire retraction.
- Wire Feed: press and hold the Tool DT button.
- Wire Retract: double press and hold the Tool DT button.
