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There are four ways to move the robot under manual control:
Joint jogging
Cartesian jogging
Jogging moving the interactive marker
Jogging to a waypoint
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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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.
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