ABB IRC5 with FlexPendant, Руководство по эксплуатации

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4 Jogging
4.1 Introduction to jogging
What is jogging?
To jog is to manually position or move robots or external axes.
When can I jog?
You can jog in manual mode but you cannot jog during program execution.
Jogging the robot
This procedure details the main steps for jogging the robot.
Information Action
The Manual mode is described in section
About the manual mode on page 29 .
It is possible to jog the robot under the
following conditions:
• The system has been started as de-
tailed in this manual.
• No programmed operation is run-
ning
• The system is in Manual mode.
• The three-position enabling device
is pressed and the system is in Mo-
tors On state.
1
Starting in the Manual mode is detailed in
section
Starting programs on page 241 .
How to switch to manual mode is detailed
in section
Switching from automatic to
manual mode on page 261 .
The difference between different types of
jogging is detailed in section
Introduction
to jogging on page 121 .
Determine in which way you want to jog. 2
How to select coordinate system is detailed
in section
Selecting coordinate system on
page 138 .
How to jog the robot axis by axis is detailed
in section
Jog axis by axis on page 137 .
Select a mechanical unit. The axes can be
jogged in different ways. 3
The robot’s working range is defined by
system parameters. See
Technical refer-
ence manual - System parameters .
Define the working range for the robot/ro-
bots as well as for any other pieces of
equipment working in the robot cell. 4
The FlexPendant and its various parts and
sections are described in section
The
FlexPendant on page 37 .
Jog the manipulator using the joystick on
the FlexPendant. 5
The joystick and how to map the directions
of it, is detailed in section
Selecting motion
mode on page 134 .
How to prevent causing manipulator
movements in certain directions while jog-
ging, is detailed in section
Locking the
joystick in specific directions on page 139 .
There might be restrictions to how you can
jog, see section
Restrictions to jogging on
page 130 .
How to jog multiple manipulators is de-
tailed in section
Coordinated jogging on
page 131 .
In some cases, more than one manipulator
can be jogged simultaneously. This re-
quires the option
MultiMove .
6
Continues on next page
Operating manual - IRC5 with FlexPendant 121
3HAC050941-001 Revision: G
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4 Jogging
4.1 Introduction to jogging