Overview
There are four ways to move the robot under manual control:
Joint jogging (covered in this quick tip video)
Cartesian jogging (covered in this quick tip video)
Jogging moving the interactive marker (covered in this quick tip video)
Jogging to a waypoint
Jog speed is affected by both the jog speed slider and by the maxvel slider on the persistent control panel (lower portion of the user interface).
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 selected increment. The LED on the Cont/Incr button indicates whether the robot is in continuous or incremental mode.
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.
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 or relative to the tool. Switching between these two frames of reference is accomplished with the Tool/Work button.
Cartesian jogging is simple to understand when the work offset 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 quickly can get confusing when the work offset coordinate system involves a rotation. These concepts are explained in this quick tip video. If you find unexpected behavior when jogging, try reverting to the base coordinate system (no active work offset).
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