Using Joint Jogging

This procedure explains how to jog the joints of a kinematics device. Joint jogging can be performed on devices with forward kinematics defined (inverse kinematics are not required). A kinematics device can be loaded from a legacy DELMIA device file, a DMU kinematics model, a mechanism, or the device can be created with the Device Building product. For an explanation of Cartesian jogging, see Using Cartesian Jogging.

Before you begin: To perform this procedure, you must have the geometry visible.
  1. Click Jog a device .
  2. Select the robot or device.
    The Jog dialog box appears.

    The number and kind of degrees of freedom (DOF) displayed in the dialog box depend on the device selected. The joint values are displayed graphically as bars. The limits are also displayed on these graphical bars (e.g., -180 to 180 in Joint 1, below).When a joint value exceeds a limit, the bar becomes red and text in the bar shows by how much the limit has been exceeded (e.g., 107% in the example; Home_1 resets the device in its original position).

  3. Manipulate the joints of the device using one of the following methods:
    • On the DOF Controls area of the dialog box, manipulate the slider on the individual joint's degrees of freedom (DOF) scale or use the spinners to alter the DOF values.
    • On the dialog box, alter the numerical DOF values. Linear Step controls the increments by which prismatic joints' values can change; the Angular Step controls the increments by which rotational joints' values change. To change the units of measure used for the values, use Me > Preferences > General > Parameters and Measure > Units. Also, you can select a pre-defined home position. This position is determined by the device.
    • In the work area, you can move each joint using the manipulator arrow associated with that joint on the device
  4. If you do not have the Immediate check box selected, click Apply Position to see the effects of alterations to the DOF values.
    The graphical display is updated.
  5. Select the Immediate check box.
    You can see the jogging movement as the DOF values are manipulated. Immediate does not have any effect on seeing immediate visualizations of configurations, tool profiles, or the orientation Robot; these appear regardless of whether Immediate is selected or not.

    When you access the Jog dialog box from Teach, you can select Continuous Update to see the joint value bars change as the robot motion is simulated.