Jog mode

CAUTION

Unexpected movement of the robot when acknowledging a fault in jog mode while the jog input signal is set.

Death, severe injuries or damage to property.

• Before acknowledging a fault in jog mode, make sure that no jog signal is set.

CAUTION

In unreferenced jog mode (only possible in the coordinate system "Axis"), the displayed positions might differ from the real positions. The set software limit switches are not checked during unreferenced jogging.

Death, severe injuries or damage to property.

• During unreferenced jog mode, pay close attention to the behavior of the axes and make sure that they do not collide. Do not rely on the displayed axis positions.

Jog mode allows for easy manual operation, for example, to check if a certain pose can be achieved.

In jog mode, the robot can be moved as follows:

• Jog mode along each joint axis ("Jog Joints")
• Jogging the joint axes within the joint axis coordinates.
• Jog mode along the Cartesian spatial axes ("Jog Cartesian")
• Jogging the robot tool within the Cartesian translation and orientation coordinates.
• Jog mode along each single axis (Jog Axis)
• Jogging of single axes in the axis coordinates. Single axes can also be jogged if they are not referenced.

The motion profiles for jog mode are defined by the set of motion parameters chosen; (by default, this is set of motion parameters number 8). For "Jog Axis", the motion profiles are used that have been determined in the selected motion parameter set for the joint axes (joints). As "Jog Axis" refers to the axis coordinates, it is to be expected in crank applications that the joint axis moves significantly faster due to "Jog Axis" with an identical set of motion parameters than when the joint axis is jogged ("Jog Joints"). In this case, it might be appropriate to choose a different set of motion parameters.