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2.9. IState JoystickJog

2.9. IState::JoystickJog​

Prerequisite for using IState::JoystickJog( );

l  In case of Hi5 robot controller, the main software should be V32.16-00 or later.
In case of Hi5a robot controller, the main software should be V40.07-00 or later.

l  [F2: System] – 4: Application parameter – 16: Joystick mode – Joystick mode : HR-RPC

l  [F2: System] – 2: Control parameter – 2: Input/Output signal setting – 3: Input signal assign – Joystick mode : input signal #

l  While jogging, the assigned input signal must be ON. When you don’t jog the robot, turn off this signal for safety.
(If it is hard to connect input signal for jog on/off, you can enable jog by inverting the signal value. ; [F2: System] – 2: Control parameter – 2: Input/Output signal setting – 1: Input signal attribute – register the signal # and check the ‘Negative’)

l  The mode switch of teach pendant has to be [Automatic], not [MANUAL].

 

In remote jog example, Mech.No. is used only when additional axes mechanism is set-up, UCrd.No. is used only when more than 1 user coordinate system is defined. When you use additional axes or user coordinate system, please refer to Hi5/Hi5a operation manual.