Jogging; Introduction To Jogging - ABB OmniCore Operating Manual

5 Jogging

5.1 Introduction to jogging

What is jogging?
Jogging is the process of manually positioning or moving the manipulator or
additional axes in manual mode.
Prerequisites
You can jog the robot under the following conditions:
There might be restrictions to how you can jog, see section
on page
Jogging the robot
Use the following procedure to jog the robot.
Operating manual - OmniCore
3HAC065036-001 Revision: D
• The system has been started as detailed in this manual.
• Define the working range for the robots as well as for any other pieces of
equipment working in the robot cell. The robot's working range is defined by
system parameters. For more details, see Technical reference
manual - System parameters.
• No programmed operation is running
• The controller is in manual mode.
• The three-position enabling device is pressed and the system is in Motors
ON state.
Note
YuMi robots with SafeMove2 requires using the enabling device.
On YuMi robots without SafeMove2 the enabling device is disabled, hence,
not used.
70.
1 On the start screen, tap Jog, and then select Joystick Jog or Touch Jog
from the menu.
2 From the Mechanical unit list select a mechanical unit.
3 From the Motion mode section, select an axis-set that need to be jogged.
For example, to jog axis 2, select the axis set Axis 1-3.
4 Press and hold the three-position enabling device to enable the motors.
5 If you have selected Joystick Jog, refer the Joystick Movements section to
understand the direction of the axis that you want to move and move the
joystick.
If you have selected Touch Jog, tap on the axis that you want to move and
drag it to the positive or negative direction.
The axis is moved according to the movement.
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5 Jogging
5.1 Introduction to jogging
Restrictions to jogging
Continues on next page
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