FlexPendant Operators Manual 3HAC16590 ... - Technology

5 Jogging5.1. Introduction to jogging5 Jogging5.1. Introduction to joggingWhat is jogging?To jog is to manually position or move robots or external axes using the FlexPendant joystick.When can I jog?You jog in manual mode. Jogging is possible regardless of what view is displayed on theFlexPendant, however you cannot jog during program execution.About motion modes and robotsThe selected motion mode and/or coordinate system determines the way the robot moves.In linear motion mode the tool center point moves along straight lines in space, in a “movefrom point A to point B” fashion. The tool center point moves in the direction of the selectedcoordinate system’s axes.Axis-by-axis mode moves one robot axis at a time. It is then hard to predict how the toolcenter point moves.About motion modes and additional axesAdditional axes can only be jogged axis-by-axis. An additional axis can either be designedfor some kind of linear motion or for rotational (angular) motion. Linear motion is used inconveyers, rotational motion in many kinds of workpiece handlers.Additional axes are not affected by the selected coordinate system.About coordinate systemsPositioning a pin in a hole with a gripper tool can be performed very easily in the toolcoordinate system, if one of the coordinates in that system is parallel to the hole. Performingthe same task in the base coordinate system may require jogging in both x, y, and zcoordinates, making precision much more difficult.To select the proper coordinate systems to jog in will make jogging easier but there are nosimple or single answers to which coordinate system to choose.A certain coordinate system will make it possible to move the tool center point to the targetposition with fewer joystick moves than another.Conditions such as space limitations, obstacles or the physical size of a work object or toolwill also guide you to the proper judgement.Read more about coordinate systems in section What is a coordinate system? on page 305.3HAC 16590-1 Revision: B105