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    Home Screen Overview and Basic Jog Control

    In this tutorial, we will explore the main dashboard of the robot interface and learn how to perform basic manual movements (jogging). By following these steps, you will understand how to monitor the robot's current state and safely operate its joints.

    Goal: Understand the Home screen indicators and learn how to use the Jog panel to move the robot.

    Part 1: Exploring the Home Screen

    The Home screen is your primary dashboard. Here, you can monitor the real-time status of each joint, the TCP (Tool Center Point), and the currently equipped tool.

    home_screen
    Overview of the Home Screen

    1. Joint Status

    This section displays the current state of the robot's axes. Since this is a 4-axis robot, you will see the status values for joints J1 through J4.

    joint_status
    Joint Status Indicator (J1 - J4)

    2. TCP Status

    This panel shows the pose (position and orientation) of the robot's end effector.

    For the orientation values in the TCP status, the system uses the Rotation Vector Convention

    tcp_status
    TCP (Tool Center Point) Status

    3. Active Tool Status

    This section displays the status of the currently equipped tool. Since no tool is currently mounted, you can see that the values for Position (Tool), Orientation (Tool), Center of Mass (Tool), and Payload Mass are all zero.

    active_tool_status
    Active Tool Status Panel

    Part 2: Operating the Robot (Jogging)

    Now that we understand the interface, let's learn how to manually move the robot using the Jog panel.

    Step 1: Open the Jog Panel

    To begin, locate and click the Joystick icon situated in the top right corner of the screen.

    joystick_button
    Click the Joystick icon in the top right

    Clicking this will open the Jog Panel on the right side of the screen, providing you with the necessary controls to move the robot.

    jog_panel_open
    The Jog Panel appears on the right tab

    Step 2: Enable Servo On

    Before the robot can physically move, you must supply power to the joint motors. This process is called turning the "Servo On."

    • Click the Servo On button. You will see an indication that the servos are now active and ready for commands.
    servo_on_button
    Click to turn the Servo On

    Step 3: Use the Jog Controls

    With the servos active, you can now move individual joints.

    1. Locate the + and - buttons for each joint within the Jog control panel.
    2. Click and hold a button to move the corresponding joint.
    3. Release the mouse button to stop the movement immediately.
    jog_controls
    Press and hold the + / - buttons to jog the robot

    Summary

    Congratulations! You have successfully learned how to:

    1. Read the Joint, TCP, and Active Tool status on the Home screen.
    2. Access the Jog panel.
    3. Enable the servo motors.
    4. Manually control the robot using the press-and-hold jog buttons.

    Proceed to the next chapter to configure your tool and payload settings.