2.10.1. JOG Operation Key
2.10.1. JOG Operation Key
Following table represents direction that Robot actually moves in axis coordinate system, Robot coordinate system, user coordinate system and tool coordinate system when pressing the [axis operation] key of teach pendant.
You can understand the robot’s operation pattern in every coordinate system based on following table.
Table 2‑3Operation pattern of Robot in every coordinate system
Operation
Operation Key | [Coordinate system] | |||
Axis-Coord | Robot (Robot-Coord) | Robot (User-Coord) | Tool-Coord | |
X- | S [-] | Xr (-) | Xu (-) | Xt (-) |
X+ | S [+] | Xr (+) | Xu (+) | Xt (+) |
Y- | H [-] | Yr (-) | Yu (-) | Yt (-) |
Y+ | H [+] | Yr (+) | Yu (+) | Yt (+) |
Z- | V [-] | Zr (-) | Zu (-) | Zt (-) |
Z+ | V [+] | Zr (+) | Zu (+) | Zt (+) |
Rx- | R2 [-] | Rxr (-) | Rxu (-) | Rxt (-) |
Rx+ | R2 [+] | Rxr (+) | Rxu (+) | Rxt (+) |
Ry- | B [-] | Ryr (-) | Ryu (-) | Ryt (-) |
Ry+ | B [+] | Ryr (+) | Ryu (+) | Ryt (+) |
Rz- | R1 [-] | Rzr (-) | Rzu (-) | Rzt (-) |
Rz+ | R1 [+] | Rzr (+) | Rzu (+) | Rzt (+) |
Table 2‑4 Operation form on an additional axis-related jog key
Operation
Operation Key | [Coordinate system] | |
Axis coordinate system | Rectangular coordinate system (Robot, User, Tool) | |
J7- (R3-) | Allocated additional axis1 [-] R3 [-] | Allocated additional axis1 [-] R3 [-] |
J7+ (R3+) | Allocated additional axis1 [+] R3 [+] | Allocated additional axis1 [+] R3 [+] |
J8- | Allocated additional axis2 [-] | Allocated additional axis2 [-] |
J8+ | Allocated additional axis2 [+] | Allocated additional axis2 [+] |
The J7, J8 key operates differently in accordance with the robot type and setting condition of the additional axis. For a 7-axis robot, J7 operates with a jog key allocated R3 axis, which is the third axis. For other models, each additional axis can be allocated in accordance with the mechanism setting if it is set using the jog key in the “teach pendant option” menu.
In cases when the selected mechanism is a mechanism [0] robot when you jog, it is individually allocated in accordance with the order of registered additional axis when the number of the whole axes of the next mechanism is less than two. In this case, if a key that is not assigned in the mechanism [1] remains, and if the following mechanisms are within the number of axes that can be assigned to the remaining keys, they are sequentially assigned. The following is an example of whether or not to assign J7, J8 axes in accordance with the number of axes of the additional axis mechanism.
Example 1) Mechanism[0]: robot 6 axis, Mechanism[1]: traveling axis 1 axis, Mechanism[2]: positioner 1 axis
è J7 : traveling axis, J8 : Positioner assigned
Example 2) Mechanism[0]: robot 6 axis, Mechanism[1]: traveling axis 1 axis, Mechanism[2]: positioner 2 axis
è J7 : traveling axis, J8 : Unassigned
Example 3) Mechanism[0]: robot 6 axis, Mechanism[1]: traveling axis 2 axis, Mechanism[2]: positioner 2 axis
è J7 : traveling axis 1, J8 : traveling axis 2
Example 4) Mechanism[0]: robot 6 axis, Mechanism[1]: traveling axis 3 axis, Mechanism[2]: positioner 1 axis
è J7 : Unassigned, J8 : Unassigned