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There are four ways to move the robot under manual control:
Joint jogging
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Cartesian jogging
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Jogging moving the interactive marker
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Jogging to a waypoint
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Jog behavior is affected by the Cont/Incr button, and either occurs as a continuous move for as long as the jog button is held down, or as an incremental move whose distance is equal to the currently selected Step Size button. The Cont/Incr button switches between those two modes, and that button’s LED indicates whether the robot is in continuous or incremental mode.
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Jog speed is affected by both the Jog Speed slider and is further limited by the Maximum Velocity (in the Persistent Controls section) if the Maximum Velocity slider is set to a lower speed than the Jog Speed slider.
Joint Jogging
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Joint jogging is the simplest, easiest to understand form of jogging the robot. You can jog each joint individually using the arrow buttons next to the Joint Position sliders on the Jog tab. 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 moves for the increment that is currently selected on the four Step Size buttons.
Cartesian Jogging
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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. A, B, and C jog motions rotate around the X-, Y-, or Z-axis at the current tool control point.
Like joint jogging, Cartesian jogs can be either continuous or incremental. Additionally, the directions (X, Y, Z) and rotations (A, B, C) can either be relative to the robots work offset coordinate system robot's currently active user frame or relative to the tool. To switch between these two frames of reference, use the Frame: User/Tool /Work button.
Cartesian jogging is simple to understand when the work offset user frame coordinate system is similar to the robot’s base coordinate system, because X, Y, and Z jogs mimic the behavior of a CNC machine. It can quickly get confusing when the work offset coordinate system involves a rotation. These concepts are explained in this quick tip video.
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Cartesian jogging is relative to one of two possible frames: the user frame (i.e., work offset coordinates) or the tool frame, determined by the Frame: User/Tool/Work button. When work user frame is selected, jogging in Z negative (for example) moves along the Z negative direction of the active work offsetuser frame. When the tool frame is selected, a Z negative jog moves along the Z negative direction of the active tool frame. For more information about work and tool frames, see https://tormach.atlassian.net/wiki/spaces/ROB/pages/1993277700.
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Jogging Using the Interactive Marker
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