Mounting

Description

Specifying the mounting of the robot arm serves two purposes:

  1. To make the robot arm appear correctly on the PolyScope screen.

  2. To tell the controller about the direction of gravity.

Failure to mount the robot arm correctly can result in frequent stops.
Verify and use the correct installation settings. Save and load the installation files with the program.

If the robot arm is mounted in one of the ways listed below, adjustment is required.

  • ceiling mounted

  • wall mounted

  • mounted at an angle

On the Robot Mounting and Angle screen, use the buttons on the right to set the angle of the robot arm mounting. The first three buttons set the angle as follows:

  • ceiling (180∘)

  • wall (90∘)

  • floor (0∘)

The Tilt buttons set an arbitrary angle.
 

Use the buttons on the lower part of the screen to rotate the mounting of the Robot arm to match the actual mounting.

 

An advanced dynamics model gives the robot arm smooth and precise motions and allows the robot arm to hold itself in Freedrive. For this reason, it is important to mount the robot arm correctly.