Jogging; Introduction To Jogging - ABB IRC5 with FlexPendant Operating Manual

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.
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Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
Action
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.
Determine in which way you want to jog.
Select a mechanical unit. The axes can be
jogged in different ways.
Define the working range for the robot/ro-
bots as well as for any other pieces of
equipment working in the robot cell.
Jog the manipulator using the joystick on
the FlexPendant.
In some cases, more than one manipulator
can be jogged simultaneously. This re-
quires the option MultiMove.
© Copyright 2018 ABB. All rights reserved.
4.1 Introduction to jogging
Information
The Manual mode is described in section
About the manual mode on page
Starting in the Manual mode is detailed in
section Starting programs on page
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
to jogging on page 121.
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
The robot's working range is defined by
system parameters. See Technical refer-
ence manual - System parameters.
The FlexPendant and its various parts and
sections are described in section
FlexPendant on page 37.
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
joystick in specific directions on page
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.
Continues on next page
4 Jogging
29.
241.
Introduction
137.
The
Locking the
139.
121