Jog & Teach
The [Jog & Teach] panel is used in teaching.
Switching the mode selector key switch to “TEACH/T1” and tapping [Jog & Teach] displays the [Jog & Teach] panel.
c: Tap the tool button to display [Command Window], [Force Monitor], and [I/O Monitor] panels. For details of the panels displayed, refer to the following.
Tool
Changing Local, Tool, Arm, ECP
The coordinate system to perform jogging and teaching can be selected from the user-defined coordinate systems.
Reference: Robot Parameters
| Item | Description |
|---|---|
| Local | Defined Local coordinate system 0 is the same as the Base coordinate system. |
| Tool | Defined Tool coordinate system |
| Arm | Arm coordinate system defined as the additional arm. This is available for the following robots. - Rectangular coordinate robots - SCARA robots |
| ECP | Defined coordinate system of the external control point. This is available when the external control point is enabled. |
Jog Mode
Select the jog mode.
Some modes may not be available depending on the type of the robot.
| Item | Description |
|---|---|
| World | Jogs in current Local, Tool, arm and ECP coordinate systems. |
| Tool | Jogs in current Tool coordinate system. |
| Local | Jogs in current Local coordinate system. |
| Joint | Jogs each joint of the robot. |
| ECP | Jogs in the coordinate system of the current external control point. This is available when the external control point is enabled. |
Jog Key Operation
World, Tool, Local, ECP:
Jogs the robot along the X, Y, and Z axes. For robots with 4 DOF (Cartesian coordinate and SCARA), you can also jog U (roll). For robots with 6 DOF (vertical 6-axis), you can jog rotateZ (roll), rotateY (pitch), and rotateX (yaw). The guide display of the jog keys changes.
Joint:
Jogs the robot using the keys from J1 (Joint #1) to J** (** is the number of joints). The guide display of the jog keys change to the joint numbers.
Jog Speed
Sets the speed for jogging and motion commands. The speed can be selected from [Low] and [High].
Jog Distance
This group is used for specifying the distance (Long, Medium, Short, or Continuous) that each axis moves when its corresponding jog button is pressed.
When “Continuous” is selected:
The robot jogs in continuous mode. The [Jog Distance] text boxes cannot be changed.
When other than “Continuous” is selected:
The robot jogs for the distance specified in the [Jog Distance] text box (Step mode).
[Jog Distance] text box changes according to the jog mode and the robot. To change the values, select the jog distance to change and enter the new value.
| Distance | Set Value * | Default Value |
|---|---|---|
| Short | More than 0 to 10 | 0.1 |
| Medium | More than 0 to 30 | 1 |
| Long | More than 0 to 180 | 10 |
Clearing the Error Status
Tapping the [Reset] button on the operation keys resets the robot servo system and the emergency stop state.
Turning the Motor Power ON or OFF
Tapping the [Motor] button on the operation keys turns ON or OFF all motors of the robot.
Motor ON:
Tap the [Motor] button while the motor is OFF. The confirmation dialog box will appear. Tap the [OK] button while holding the Enable switch. The motors will be ON.
Motor OFF:
Tap the [Motor] button while the motor is OFF. The motors will be OFF immediately.
KEY POINTS
Perform the following operations to turn OFF the motor.
- Turn OFF the Enable switch.
- Switch the mode with the mode selector key switch.
(However, to switch the mode from TEACH to AUTO, release the latch.)
KEY POINTS
Turn off enable switch, when you switch the mode with the mode selector key switch. If the mode is switched with the mode selector key switch while the enable switch is turned on, and the motor is turned on, an error will occur. Be sure to turn the enable switch OFF once and then ON again before turning the motor ON.
Jog Operation
Move the robot using one of the operations below.
- Step Jog operation
- Continuous Jog operation
Step Jog operation
In Step Jog, the robot moves each time the Jog key is pressed.
The jog distance has to be configured beforehand.
- Specify the jog distance to “Long”, “Medium”, or “Short” in the [Jog Distance].
Reference: Jog & Teach - Press the Jog key while holding the Enable switch to execute step jogs.
Continuous Jog operation
In Continuous Jog, the robot moves while pressing the Jog key.
- Specify the jog distance to “Continuous” in the [Jog Distance].
Reference: Jog & Teach - Press the Jog key while holding the Enable switch to execute continuous jog.
Changing the Jog Keys
Change the current key assignment of the jog keys.
Example: Switch U, V, W to R, S, T. Switch J4, J5, J6 to J7, J8, J9.
KEY POINTS
When the robot joint has 7 or more axes, tap 
[Arrow] to switch the jog keys.
Registering the Robot Position
This group is used for registering the current robot position.
| [Point File] | Selects a point file. |
| [Point] | Selects a point number. |
| [Save] button | Saves the data to the Robot system. |
| [Teach] button | Registers the current robot position to the point number of the specified point file. The data will be saved to the memory. |
To search points:
In the dead-number search, tapping the downward (↓) or upward (↑) button of the dead-number searches the nearest dead-number.
Current Position
Robot 3D View
[Current Position] panel displays the robot 3D view and current position of the robot.
To display the [Current Position] panel, tap the [Current Position] tab.
The robot can be displayed in the 3D.
The coordinate axes and points are displayed on the same panel as the robot. This allows you to check the robot posture and motion from various points of view.
Robot Display:
One currently selected robot can be displayed. The display changes as you change the robot.
Coordinate system display:
To display the coordinate system, tap the [Local], [Tool], or [ECP] button to select the coordinate system you want to display and select the coordinate number. You can select several items.
Coordinate axes are displayed as follows:
- X axis: Green
- Y axis: Blue
- Z axis: Red
Point display:
To display the point, tap the [Point] button and select the point number from the selected point file. You can select several items. The point can be displayed on the 3D display.
Field of View Control:
- Enlarge or reduce the panel: Pinch-out to enlarge and pinch-in to reduce the panel display size.
- Rotate the view: Swipe with one finger.
- Scroll the view: Swipe with two fingers.
- Return to default: Long-tap to display the menu, and tap the [Reset Viewpoint] button.
Menu:
To display the menu, long-tap the menu.
- Set Zoom Large: Makes the zoom-in and zoom-out size larger.
- Set Zoom Small: Makes the zoom-in and zoom-out size smaller.
- Reset Viewpoint: Resets the viewpoint.
Current Position
This group displays the current position of the robot. There are three ways to display the position.
Some display modes may not be available depending on the type of the robot.
| Item | Description |
|---|---|
| World | Current position and tool orientation in the selected Local coordinate system |
| Joint | Current coordinate of the joints |
| Pulse | Current pulse of the joints |
Current Arm Orientation
This group displays the current arm orientation.
Flags representing the arm orientation vary depending on the type of the robot.
Point Data
On the [Points] panel, you can edit the point data of the point files.
To display the [Points] panel, tap the [Points] tab.
The list of data from the point file selected on the [Points] tab is displayed.
Change the point data values
- Double-tap the cell of the value to change.
- Enter a value.
You can copy a point data value and paste it to another cell. The menu of functions, such as copy, can be displayed by long-tapping the text input area while a cell is selected.
To select the line, check the checkbox. You can select several items.
To scroll, flick the table up and down.
| Item | Description |
|---|---|
| Save | Saves changes to the Robot system. |
| Cut | Cuts the data of the selected line. |
| Copy | Copies the data of the selected line. |
| Paste | Pastes the copied or cut data to the checked lines. The data will be overwritten. If the data copied or cut from the multiple lines are held, these will be pasted to the lines following the checked line. |
| Delete Line | Deletes the data of the selected lines. If several lines are selected, several point data will be deleted. The point numbers whose data is deleted will be dead-numbers. |
| Delete All | Deletes all data. The file will be empty. |
| Restore | Restores changes. The file will be restored to the last saved state. |
| Search | Searches for a label. |
| Teach | This group is used for registering the current robot position. |
| Execute Motion | Executes the motion commands such as Go and Move. |
Execute Motion
On the [Execute Motion] panel, you can execute the motion commands such as Go and Move.
To display the [Execute Motion] panel, tap the [Execute Motion] tab.
Execute the motion commands
- Select the command name and parameters, and then tap the [Execute] button. The confirmation dialog box will appear.
- Press the [Exe] key with the Enable switch ON. The command is executed while the [Exe] key is being pressed. The motion stops when either one or both of the Enable switch and [Exe] key is released.
Control Panel
In the [Control Panel] panel, basic robot operations such as freeing a joint and calibration can be performed.
Tap the [Control Panel] tab to display the [Control Panel] panel.
Free Joints
Setting the lock joint state and free joint state of joints individually.
When teaching the SCARA robot by the direct teaching, frees joint the robot axes.
This is not available for the vertical 6-axis robots.
The following are descriptions for the buttons.
| [J*] | When the toggle switch of each joint is turned on, it will become the free joint state. When the toggle switch is turned off, it will be the lock joint state. |
| [ Free All ] | Frees joint the all robot axes. |
| [ Lock All ] | Locks joint the all robot axes. |
Command Buttons
The buttons vary depending on the type of the selected robot.
The following are descriptions for the buttons.
| [Home] | Moves the robot to the point specified by HomeSet command. This can be executed by pressing the [Exe] key with the Enable switch ON while the confirmation dialog is displayed. |
| [Pulse0] | Moves each joint to the 0 pulse position. This can be executed by pressing the [Exe] key with the Enable switch ON while the confirmation dialog is displayed. |
| [MCal] | Performs calibration (detect the mechanical home position). This can be executed by pressing the [Exe] key with the Enable switch ON while the confirmation dialog is displayed. |
Brake Settings
On the [Brake Settings] panel, the brake of each joint can be turned ON or OFF for the vertical 6-axis robots.
To display the [Brake Settings] panel, tap the [Brake Settings] tab.
For the vertical 6-axis robots, the brake of each joint can be turned ON or OFF. This is not available for non 6-axis robots. The password entry panel will be displayed if the password is set. Enter the password and tap [OK] to display the [Brake Settings] panel.
Brake ON:
Turn on the toggle switch of the joints you want to lock the brakes. The brakes will be locked.
Brake OFF:
Turn off the toggle switch. The confirmation massage will appear when you turn off them. Read the message and tap [OK] to release the brakes. The joints can be moved by hands.
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