FlexPendant Operators Manual 3HAC16590 ... - Technology

3 Get started3.3.3. Jogging3.3.3. JoggingJoggingThis procedure details the main steps required to jog the robot.The term Jogging is described in section Introduction to jogging on page 105.Note that there may be more information available than the one referred to in the procedure.Step Action Info1. It is possible to jog the robot under thefollowing conditions:• The system has been started asdetailed in this manual.• no programmed operation isrunning• the system is in Manual mode.• the enabling device is pressedand the system is in Motors Onstate2. Many of the mechanical unitsconnected to the controller may bejogged.3. The robot may be jogged in severalways, in different coordinate systems.First, determine in which way you wantto jog.4. Once a mechanical unit has beenselected, its axes may be jogged indifferent ways.These ways may be selected using theQuickSet menu.5. Define the working range for the robot/robots as well as for any other pieces ofequipment working in the robot cell.The Manual mode is described insection About the manual mode onpage 228.Starting in the Manual mode is detailedin section Start up in manual mode onpage 231.How to switch to manual mode isdetailed in section Switching fromautomatic to manual mode on page235.How to determine which mechanicalunit to jog is detailed in sectionSelecting mechanical unit on page 108.The difference between different typesof jogging is detailed in sectionIntroduction to jogging on page 105.How to jog the robot axis by axis isdetailed in section Jog axis by axis onpage 114.The robot may be jogged in:• Jog in base coordinates on page116• Jog in tool coordinates on page120• Jog in world coordinates on page117• Jog in work object coordinateson page 119The robot’s working range is defined bysystem parameters. See sectionConfiguring system parameters onpage 270 or Technical referencemanual - System parameters.3HAC 16590-1 Revision: BContinues on next page59