ER15-4-1600 Industrial robot quick user manual
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in space The rotation angles w, p, and r of the rectangular coordinate system on the tool side around the
X axis, Y axis, and Z axis are defined.
4.3.3 Industrial robot-tool coordinate system
The tool coordinate system, that is, the tool coordinate system installed at the end of the robot, the
origin and direction are constantly changing with the end position and angle. The coordinate system is
actually obtained by the Cartesian coordinate system through rotation and displacement transformation.
4.3.4 Industrial robot-user coordinate system
The user coordinate system is the user-defined coordinate system, which is a rectangular
coordinate system defined by the user for each work space. The coordinate system is actually obtained
by transforming the basic coordinate system through the axial deflection angle
4.4 Jog operation
4.3.1 What is jog operation
The jog operation is to move the robot by pressing the jog buttons "-" and "+" on the right side of the
teach pendant panel. This operation is only allowed in manual mode. After the servo is enabled, you
need to set the robot coordinate system type and movement rate, and then perform the jog operation.
Jog operation is divided into continuous jog and incremental jog:
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1
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Continuous jog is to hold down the "-" and "+" buttons to make the robot move;
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2
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The incremental jog needs to set the step length, then click the "-" and "+" buttons to make the
robot perform incremental movement.
4.4.2 Notes on jog operation
Be sure to read the EFORT Robot Safety Manual before jogging
1) The operator must stand outside the maximum range of robot operation;
2) The operator keeps looking at the robot from the front to ensure a safe escape route in an
emergency;
3) Make sure there are no people in the robot's movement range
4) Check whether the robot has an alarm, if there is an alarm, please clear it and then run;
5) Check whether the mechanical zero position of the robot matches the position of each axis of
the teach pendant;
6) Confirm the jog global speed before the servo, and confirm the currently selected coordinate
system.
4.4.3 Start jog operation
After logging in as the administrator of the C30(ROBOX) operating system, click the menu bar
"Monitoring" -> "Location", and the following jog operation can be performed in the interface that
jumps out (as shown below)
