ABB OmniCore S Series Operating Manual page 66

5 Jogging
5.1 Introduction to jogging
Continued
Jogging the robot
Use the following procedure to jog the robot.
About motion modes and robots
The selected motion mode or coordinate system determines the way the robot
moves.
In linear motion mode, the tool center point moves along straight lines in space,
that is, it moves from "point A to point B". The tool center point moves in the
direction of the selected coordinate system's axes.
Axis-by-axis motion mode moves one robot axis at a time. It is then hard to predict
how the tool center point moves.
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1 On the start screen, tap Jog, and then select Joystick Jog or Touch Jog
from the menu.
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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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Operating manual - OmniCore
3HAC065036-001 Revision: E