Cockpit | V3-manual

No.	Item	Description
1	Hand-Guiding Button	This button can be used to adjust or change the robot’s pose.
2, 3	User Setting Button (Constrained Motion)	This button can modify the robot’s pose by entering a pose according to a lock condition corresponding to a mode. Axis Lock: Changes the pose according to the Z-axis of the tool coordinates Surface Lock: Changes the pose according to the X-Y surface of the tool coordinates Point Lock: Changes the angle only from the reference point of the tool coordinates Angle Lock: Changes the position only with the current TCP angle locked
4	Save Pose Button	Saves the current robot pose.
5	One Line Up	Moves the Focus displayed on the screen one line up
6	One Line Down	Moves the Focus displayed on the screen one line down

Caution

Constrained Motion is not available for models E0509, A0509, A0509F, A0912, A0912F without FTS.
- The above five models can use six buttons and functions normally, but do not provide a Cockpit setting menu.
A Series models with FTS (A0509S, A0912S) are capable of using User Setting Button(Constrained Motion).

Fixed motion relies on the FTS attached to the tip of the robot; therefore, it is essential to attach the tool and for the robot to grip it as it moves. Moving the robot while holding the body may not trigger a reaction from the robot.
For details on the functional limits of each robot series, please refer to ‘Functional Limits of each Robot Series’ in https://doosanrobotics-manual.atlassian.net/wiki/x/sARkJQ.

Direct teaching (Hand-guiding)

Hand-guiding is used to hold the robot end with one’s hands to push and pull the robot to the desired pose, and apply the pose to the currently selected motion.

There are two direct teaching methods.

Freedrive: Each joint moves in the direction the user applied force
Constrained Motion: The robot end moves or rotates only in the direction set in the constrained motion even when force is applied from a random direction

Freedrive

When Button 1 is pressed, the Freedrive mode is activated, allowing the robot to be moved freely. Each joint moves in the direction the user applied force. The robot cannot be moved by hand once the button is released.

During direct teaching, the robot LED blinks cyan.
Pressing the hand guide button on the back of the teach pendant will activate the Freedrive mode, just like pressing Button 1, and the robot can be moved freely.

Constrained Motion

When Button 2 and Button 3 are pressed, the robot end moves only in the direction matching the constraint condition even when force is applied from a random direction. The constraint condition can be set with 2 of 4 of the conditions in the following figure: Z-axis constrained, plane fix constrained, surface constrained and direction constrained.

Cockpit buttons setting

Menu

	Items	Description
1	Cockpit Image	This is an image for Cockpit settings.
2	Reset	This button allows you to initialize the set values.
3	1 Button Setting	This is the section where you can select the function to be set for the button 1.
4	2 Button Setting	This is the section where you can select the function to be set for the button 2.
5	1+2 Buttons Setting	This is the section where you can select whether to enable clamping for the buttons 1+2.
6	Guide Image	An guiding image for Cockpit setting items.

Obtaining Cockpit Button Status

User can obtain information about whether the Cockpit Button is pressed or released.

The robot provides the function to control the Cockpit Button, allowing it to be utilized in various applications.

The "Monitoring Data" in the communication API provides information on Cockpit Button.
If you press the robot's Cockpit Button or vice versa, you can detect it through the DRL API.
DRL API: get_cockpit_input (Please refer to the Programming Manual.)
- Params: (int) index
- Returns: (int) 1: Pressed (The button is pressed), 0: Released (The button isn’t pressed)