It has two tabs: the machine tab and the
Cartesiantab.
The Cartesian tab page of the dialog box appears
only if the automatic assignment of the inverse kinematics solver
is successful.
The Apply Position button forces all modifications
to be applied.
The 4-Axis Machine tab has the following fields:
DOF Controls
This section consists of a slider bar, numeric input field,
and pair of increment/decrement buttons for each command of the
mechanism.
When the Jog dialog box first displays, the slider bar and
numeric input field display the current value of the command.
The slider bar can be used to vary the command value
between the minimum and maximum travel limits.
The numeric input field can be used to key in the command
value given the default units for translation and rotation.
The increment/decrement buttons can be used to
increase/decrease the command value in discrete steps. The
step-size is controlled by the two values entered in the
Steps section.
Steps
This section defines the linear and angular
step-sizes that are used in the increment/decrement functions.
Home Position
This section provides a simple facility to display the
configuration of each home position. When a home position is
selected in the combo box, the mechanism moves immediately to the
corresponding set of command values.
Immediate
This checkbox specifies the protocol for
updating the mechanism model. If this box is checked (immediate
mode), each change to a command value is applied immediately to
the model.
If this box is unchecked (deferred mode), multiple command values
can be modified before being applied to the model.
The Cartesian tab has the following fields:
TCP Controls
Coordinates
Altering the coordinates of the Tool
Center Point (TCP) controls moves the device. The TCP is
defined as a profile in the controller.
You can choose to orient the
coordinates with respect to (w.r.t.) the Current
Object Frame or the Base.
Steps
Linear step
The linear steps box
controls the increments by which the x, y, and z coordinates can
change.
Angular step
The angular steps box
controls the increments by which the yaw, pitch, and roll values
change.
Snap Compass
Control location
If you select this check box, the TCP location
matches the compass location.
When the user switches:
from ON to OFF, neither the TCP nor the compass get
modified
from OFF to ON, the compass jumps to the TCP location or
orientation.
Control Orientation
If you select this check box, the TCP orientation
matches the compass orientation.
TCP
Orientation
World
The compass at the current TCP position keeps its
orientation as world. The user can drag the compass along the
world's x, y, z direction. Rotation around World's x,
y, z direction is possible. Each time after drag, the compass
restores its orientation (which is still the world's
orientation).
Base
The orientation is the device's
base orientation.
User
A define plane toolbar appears,
which allows the user to define any orientation by several
methods: geometry plane, edge, 3 points, circle center, etc.
Once selection is done, the compass will jump to that point.
Any translation or rotation occurs in respect to that point.
The compass jumps back after each drag. This serves as a
kind of temporary TCP, and no tool profile stores its position.
Tool
Once Tool is selected, the Definition
box is no longer grayed out. The user can select any existing
tool profile from the definition pulldown menu.
Definition
When a tool profile is
selected, the compass jumps to its defined TCP position. It
becomes temporarily current.
If any
Orientation other than Tool is selected, this
field is not available.
Configurations
The configurations, which define the
posture of the machine, are set in the .CATProduct file
containing the machine data. These configurations are an
attribute of the device, therefore, and cannot be altered.
You can simply select different, reachable configurations.
Immediate
If Immediate
is not checked, then you cannot see the device movement when you
alter the TCP or configuration values. To see the position,
press the Apply Position button .