Overview
There are four ways to move the robot under manual control:
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Jog speed is affected by both the jog speed slider and will be further limited by the maxvel slider on the persistent control panel (lower portion of the user interface) if maxvel is set to a lower speed than the jog speed slider.
Joint Jogging
Joint jogging is the simplest, easiest to understand form of jogging the robot. Each joint may be jogged individually using arrow buttons next to the joint position sliders on the Jog tab of the main notebook. Joint jogging may be done either in continuous mode (the robot moves for as long as the mouse click on the button is sustained) or in incremental mode, in which case the robot will move for the increment that is currently selected on the four step size buttons.
Cartesian Jogging
Cartesian jogging (jogging the machine in X, Y, Z directions or rotating the machine in A, B, or C rotational axes) can be accomplished using the Cartesian jogging buttons on the Jog tab of the main notebook. A, B, and C jog motions rotate around the X, Y, or Z axis at the current tool control point.
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Cartesian jogging is relative to one of two possible frames: the user frame (a.k.a work offset coordinates) or the tool frame, determined by the work frame/tool frame button. When work frame is selected, jogging in Z negative (for example) will move along the Z negative direction of the active work offset. When the tool frame is selected, a Z negative jog will move along the Z negative direction of the active tool frame. For more information about work and tool frames, see Industrial Robot Frame definition Methods /wiki/spaces/ROB/pages/1993277700