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 behavior is affected by the Cont/Incr button, and will either occur 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. Please note that clicking a step size button will select incremental mode if the current mode is continuous, and dragging the jog velocity slider will select continuous mode if the current mode is incremental.
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.
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).
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
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