Using Constrained Zero-G Mode

Created by Rico Stodt, Modified on Mon, 7 Feb, 2022 at 10:17 AM by Rico Stodt

This page provides a tutorial about how to use the constrained Zero-G mode.


Contents


Overview


This tutorial shows how to manipulate Sawyer in Zero-G mode with the arm motion constrained to a plane, translational axis, rotational axis, or the nullspace.


Prerequisites



Moving the Robot in Constrained Zero-G Mode


  • To enter Constrained Zero-G mode press the “X” button.


Constrained Zero G.png


  • Select the reference frame to jog around using the navigator button. Scroll to “FRAME” and press the navigator button to enter the frame list. Scroll and press the frame you want to use for this jog.


Constrained Zero G Frame.png


  • Use the navigator button to scroll to the selected constrained mode (Z AXIS, XY PLANE, Z ROTATION, XYZ ROTATION or ELBOW), and then press it. The selected constrained mode will change to orange and the lock will change to unlock symbol to let you know that the motion is available. Now you can move the arm only in the selected constrained mode.


Constrained Zero G Lock.png


  • Entering Zero-G mode while using Constrained Zero-G mode will cancel any constraint.

 

 


Was this article helpful?

That’s Great!

Thank you for your feedback

Sorry! We couldn't be helpful

Thank you for your feedback

Let us know how can we improve this article!

Select at least one of the reasons
CAPTCHA verification is required.

Feedback sent

We appreciate your effort and will try to fix the article