Commonplace Robotics Mover 4 User Manual page 19

The „Joint" mode allows to turn the single robot axis from A1 to A4. In "Cartesian"
mode the robot moves in straight lines following the x, y and z coordinate axis. The
rotation is defined with the B commands. In „Cartesian Tool" mode the robot moves
aligned to the current tool coordinate system.
The override scales the motion speed between 0 and 100%.
Pic. 9: Buttons to jog the robot in Cartesian mode. In joint mode the buttons change to the axis A1 to A4.
While jogging in Cartesian mode virtual walls can be switched on to limit the motion
and thereby avoiding e.g. collisions. See section 7 for details.
When the virtual walls are active the robot blocks further motions when
leaving the allowed area. These restrictions do not hold in joint mode.
The most convenient way to move the robot is with a connected joypad, the picture
below shows the assignment of keys.
Pic. 10: Assignment of keys for the joypad. Upper markings for Cartesian mode, lower for joint mode.
Reference:
19
1. Change motion mode
2. Change active robot
3. Open / close gripper
4. Record a motion point
5.
Change button
assignment:
when pressed it is not
+X, but +B