Table of Contents
Operation of Teaching Box R32TB
Operating mode
3-axle XYZ JOG mode
+J4
-J5
+J5
-
-J6
+J6
+X
Circle JOG mode
-
-A
+A
+X
Tab. 6-1: JOG modes (2)
NOTE
If the monitoring point of the hand in tool JOG mode, XYZ JOG mode or circle JOG mode
approaches a single point then a warning sign appears on the Teaching Box and a warning signal
is issued. The function can be deactivated by parameter MESNGLSW. A detailed description of the
parameter and the function "Error message on reaching a singular point" is contained in the
operating and programming instructions.
SD-/SQ series
Mode
Execute the three points listed above.
Press the function key twice to switch to the
-J4
3-axle XYZ JOG mode.
+Z
+Y
R000866C
Execute the three points listed above.
Press the function key three times to switch
to the circle JOG mode.
+Z
+C
-C
-Y
+B
-B
+Y
+Y
R000867C
Move robot is JOG mode
Description
The position of the tipped tool can be moved
along the axles in the XYZ coordinate system
in 3-axle XYZ JOG mode.
In contrast to XYZ JOG mode, the position of
the robot is changed as in articulated joint
mode by rotating axles J4, J5 and J6. with a
fixed position of the tipped too, the position is
interpolated over axles X, Y, Z, J4, J5 and J6, i.e.
the position is not constant.
The middle point of the tool must be set by
parameter MEXTL.
The position of the tipped tool can be rotated
in circles around the zero point in circle JOG
mode.
A change in the X-axle coordinate moves the
tipped tool radially, starting from the middle
point of the robot. A change in the Y-axle
coordinate has the effect of the same
movement as control of the J1 axle in
articulated joint JOG mode. A change in the Z-
axle coordinate has the effect of a manual
movement in the Z direction as in XYZ JOG
mode.
If the coordinates of the A, B or C axle are
changed then the hand gripper is rotated as in
XYZ JOG mode The axles of robot type RH can
be controlled.
6 - 9
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