Basic Settings For Jogging - ABB OmniCore Operating Manual

5.3 Basic settings for jogging

Selecting mechanical unit for jogging
If your system has more than one robot, that is, additional robots or additional
axes, then you need to select which mechanical unit to jog when using the joystick.
Each mechanical unit that can be jogged is represented in the Mechanical unit
list. The name of the unit is defined in the system configuration.
Please consult your plant or cell documentation to see which mechanical units are
available in your robot system.
Selecting Motion mode
Navigate to the Movement Types section and tap on the movement type that you
want to select.
Selecting tool, work object, and payload
It is important to choose the proper tool, work object, or payload. This is required
when you create a program by jogging to the target positions. Failing to do this
may results in overload errors or incorrect positioning either when you jog or when
you run the program.
Select tool, workobject, or payload from the Active tool, Active workobject, or
Active Payload list respectively according to the requirement.
Setting the tool orientation
Tools for arc welding, grinding, and dispensing must be oriented in a particular
angle to the work piece to obtain the best result. You also need to set up the angle
for drilling, milling or sawing.
In most cases you set the tool orientation when you have jogged the tool center
point to a specific position such as the starting point for a tool operation. After you
have set the tool orientation you continue to jog in linear motion to complete the
path and the supposed operation.
The tool orientation is relative to the currently selected coordinate system. From
a user perspective however this is not noticeable.
Select Align Tool from the menu.
Jogging axis by axis
Use axis by axis jogging when you need to:
Operating manual - OmniCore
3HAC065036-001 Revision: J
Note
The selected mechanical unit is active until you select another unit.
• Move the mechanical unit out of a hazardous position.
• Move robot axes out of singularities.
• Position axes for fine calibration.
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5 Jogging
5.3 Basic settings for jogging
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