The persistent controls section makes up the bottom half of the screen. Unlike the Notebook section, the areas that display in the Persistent Controls section don't change — they display regardless of the activity you're doing.
Activities are grouped into the following areas:
Program Control Area (left third)
Position Status Area (middle)
Manual Control Area (right third)
Program Control Area reference
From the Program Control area, you can do the following activities either before starting or while running a Robot program:
Bring the robot out of reset status
Start, stop or step through a program
Use overrides on velocity and feed rate to adjust the robot’s motion speed during a program
The following controls make up the program control area:
Cycle Start
Single Block
Feedhold
Optional Pause
Stop
Reset
Feed rate slider and 100% button
Max velocity slider and 100% button
Documentation for each of these controls is provided in the application by tool tips and extended tool tips. To see an extended tool tip, place the mouse pointer over the control and then leave the mouse stationary for 3 seconds. The extended tool tip will appear, disappearing when the mouse is moved again.
Position Status Area reference
This part of the controls section displays the currently active user frame and tool frame, and provides drop down controls that allow the user to change the active user or tool frame. The digital readouts (DROs) display the current Cartesian position (X, Y, Z, A, B and C) and the labels to the right of the J1, J2, etc. graphic display the current joints' angular positions.
By default these controls display linear units in mm and angular units in degrees. This can be changed on the settings screen.
The Zero buttons next to the Cartesian position DROs allow the user to modify the current user frame by “zeroing” out that Cartesian value. To prevent accidental button presses, these buttons must be held down for 3 seconds to take effect. The active user frame may also be altered by typing directly into the DRO and pressing the keyboard’s Enter key.
Manual Control Area reference
This area is used in conjunction with jogging, covered in detail here: /wiki/spaces/ROB/pages/728924253
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