Task Jog View

Overview

Task Jog View is a User Components that generates a form named Task Jog View if you drag and drop it into the UI PREVIEW panel.
This User Component helps you to fine-tune the position of the robot.

This form includes the following items:

• Display Coordinates dropdown: Includes Base, World, and User options. The default selected item is Base.

  • When Base is selected: In the below Coordinate Toggle buttons area, the button next to the Tool button will be changed the name to the Base button.

  • When World is selected: In the below Coordinate Toggle buttons area, the button next to the Tool button will be changed the name to the World button.

  • When the User selected: In the below Coordinate Toggle buttons area, the button next to the Tool button will be changed the name to the User button.

• Coordinate Toggle buttons: Used to choose which coordinate system to jog the robot against.
  Includes the following buttons:

  • Base/World/User button: This button name changes according to the option selected in the Display Coordinates dropdown above.
    The Base button is selected by default after dragging and dropping into the UI PREVIEW panel.

  • Tool button: When selected, the below X button is selected by default.

• Joint & Task form: Press each button in this form, then press/hold the Minus or Plus button at the bottom of the screen to change the selected item value.

  • The Joint form includes J1-J6 Joint Angle buttons and their corresponding values, which display the device's current position.

  • The Task form includes X, Y, Z, Rx, Ry, and Rz buttons and their corresponding values.

• Copy Pose button: Copies the current selected Joint Angle value (J1-J6) to the clipboard for later use when pressed.

• Copy Position button: Copies the current selected Task coordinate system (X, Y, Z, Rx, Ry, Rz) to the clipboard for later use when pressed.

• Minus & Plus button: Moves the robot continuously by adjusting the value of the Joint/Task item selected in the Joint & Task form above in the Minus or Plus orientation when pressed or held.
  When unheld, the robot will stop.

• Display Coordinates dropdown is enabled when X, Y, Z, Rx, Ry, or Rz button are selected.
  In contrast, it is disabled when each J1-J6 Joint Angle is selected.

• Coordinate Toggle buttons are enabled when X, Y, Z, Rx, Ry, or Rz buttons are selected.
  In contrast, it is disabled when each J1-J6 Joint Angle is selected.

• The coordinate system selected in Toggle is displayed as 100% Opacity in the simulation area.

  Coordinate systems not selected in Toggle display 30% Opacity in the simulation area.

• Only one item in the Joint & Task forms can be selected, and J1 is selected by default.
  For example: When J6 is selected, all of J1-J5, X-Rz will be un-selected.

• J1-J6 default value: Current position of the device.
  J1-J6 min value: -360.00
  J1-J6 max value: 360.00

• X, Y, Z default value: Current position of the device.
  X, Y, Z min value: -99999.999mm.
  X, Y, Z max value: 99999.999mm.

• Rx, Ry, Rz default value: Current position of the device.
  Rx, Ry, Rz min value: -360.00.
  Rx, Ry, Rz max value: 360.00.

• When pressing each button of Joint & Task forms, the corresponding button will be selected, and its value text field will be highlighted.

• When the Minus & Plus button is pressed or held, the selected Joint /Task item will be decreased by one unit, and the other items will be based on the selected one to be reduced following the calculation of API.

Import

After dragging and dropping Task Jog View to the UI PREVIEW panel, the following will be imported to Code Editor panel:

• Library:

  CODE

  import TaskJogView, { TaskJogViewAPI } from './uc/task.jog.view.control';

• Source code:  

  CODE

  <TaskJogView
            moduleContext={this.moduleContext}
            type={1}
            copyPosition={'Copy Position'}
            copyPose={'Copy Pose'}
            fVelocity={100}
            displayCoordinates={0}
          ></TaskJogView>

./buc/ can be changed to ../../../buc or ../buc or others depending on package level of current file .tsx file.

Property

The PROPERTY panel of this User Component is the same as to Joint Jog View User Component.

Take a look at Joint Jog View for more details.

• When clicking the copy icon next to each item in the DOCUMENT group of the PROPERTY panel, the corresponding textbox values will be copied to the clipboard.

• If you type code for User Component in Code Editor, the corresponding value will be reflected in the PROPERTY panel. Also, if you change the properties of each User Component, the corresponding source code will be generated to Code Editor.

Differences between Joint Jog View and Task Jog View

The table below summarizes some results when interacting with Task Jog View.

Also, take a look here for the key differences between Task Jog View and another User Component named Joint Jog View.

Code Sample

When the user changes the value in the PROPERTY panel, the corresponding source code will be generated in the CODE EDITOR panel.

<TaskJogView
          moduleContext={this.context}
          type={1}
          copyPosition={'Copy Position'}
          copyPose={'Copy Pose'}
          fVelocity={70}
          displayCoordinates={2}
          copyBtnOrder={0}
          copyPoseWether={1}
          copyPositionWether={1}
        ></TaskJogView>