Jogging Mode

1
Jogging Mode
The Jogging Window Key
Jogging is used to locate translation positions
for programming.
2
Jogging Window
Window Title
JoggingUnit RobotMotion
Linear Coord BaseTool
tool0Wobj wobj0 Incremental No
Robot Pos X 1134.8 mmY -301.1 mmZ
14.5 mm q1 0.7071q2 0.0000q3
0.0000q4 -0.7071
Field
x y z
World Base Tool Wobj
3
Joystick Jogging Modes

• Axes 1,2,3 joint action
• Axes 4,5,6 joint action
• All Axes for linear motion
• All Axes for tool orientation

4
Joystick Single Axis Jogging

• Select function 1 to obtain joystick control for
  Axes 1,2, and 3
• Select function 2 to obtain joystick control for
  Axes 4,5, and 6
• Joystick may move one or more axes depending on
  how joystick is displaced

5
Jogging Axes 1,2, and 3
3. Upper Arm up/dn
1. Base Rotation left/right
2. Lower Arm fwd/back
Joystick
6
Jogging Axes 4,5, and 6
6. Tool Roll
4 Upper Arm Roll
5. Tool Pitch
Joystick
7
Tool orientation and tool position are not the
same.

• The orientation of a phillips screwdriver can
  change without taking the tool point from the
  screw head.
• However, the orientation of a blade should stay
  the same while it is moved along a cutting line.
• Tool orientation and tool position can be
  manipulated separately or together.

8
Jogging a linear tool path and orientating tool.

• In Linear, the joystick moves the tool in
  straight line path only without reorienting the
  tool.
• In Orientation, the joystick points the tool
  without moving the tool point along a path.

9
Jogging a Linear Path
Select Linear Mode to make tool move in straight
line with no change in tool orientation
Up and Down
Side to Side
Forward and Backward
Joystick
10
Jogging a Tool Orientation
Select Tool Orientation Mode to reorient tool
without a changing the position of the tool
point.
Around X
Around Z
Joystick
Around Y
11
Slowing the Jogging Process
This key turns incremental motion on and off.