Jog Dialog Box (Cartesian)

This document describes the Cartesian tab of the Jog dialog box, which appears when you select Jog.

This page discusses:

TCP Controls

The options in the Coordinates area are as follows:

X, Y, Z and Yaw, Pitch, Roll
Altering the coordinates of the Tool Center Point (TCP) controls moves the device. The TCP is defined as a profile in the controller.
Reference Label
You can select a reference frame, including a user-defined frame, for the robot. If you select User, the Select Plane dialog box appears, which enables you to define the frame.

Steps

The options in the Steps area are as follows:

Linear Step
The linear steps box controls the increments by which the X, Y, and Z coordinates can change.
Angular Step
The angular steps box controls the increments by which the Yaw, Pitch, and Roll values change.

Snap Compass

Control Location
If Control Location is checked, the TCP location matches the orientation Robot location. When you switch:
  • from ON to OFF, neither the TCP nor the orientation Robot get modified
  • from OFF to ON, the orientation Robot jumps to the TCP location or orientation.
Control Orientation
If Control Orientation is checked, the TCP orientation matches the compass orientation.

TCP

Orientation

The options for Orientation are:

World
The compass at the current TCP position keeps its orientation as World. If you drag the compass along the World X, Y, and Z direction, you can rotate around the World X, Y, and Z direction. Each time after you perform a drag, the compass restores its orientation (which is still the world's orientation).
Base
The orientation is the robot's base orientation.
User
A Define Plane toolbar appears, which allows you to define any orientation by several methods, such as: geometry plane, edge, 3 points, or circle center. Once you have selected the plane, the compass jumps to that point. Any translation or rotation occurs in respect to that point. The compass jumps back after each drag. This serves as a kind of temporary TCP, and no tool profile stores its position.
Tool
Once you select Tool, Definition becomes available. Select any existing tool profile from Definition. This option is especially useful when jogging within Teach, because you can easily change the profile before inserting a point.
Definition
When you select a tool profile, the compass jumps to its defined TCP position. It becomes temporarily current. If this is done in the context of Teach, any new operation created stores this profile in the motion activity. If any Orientation other than Tool is selected, this field is not available.

Configuration

The configurations and turn values, which define the posture of the robot, are set in the file containing the robot data. These configurations are an attribute of the device, therefore, and cannot be altered. You can simply select different, reachable configurations.

Immediate
If Immediate is not checked, then you cannot see the device movement when you alter the TCP. You need to select Apply Position to see the position. The Immediate check box does not have any effect on seeing immediate visualizations of configurations, tool profiles, or compass manipulation; those appear regardless of whether the check box is selected or not. Note in any world, base, or user orientation case, a new tag is created with the current TCP orientation as defined by the current tool profile, regardless compass orientation. When you need a new tool profile, create it before using Jog or Teach. On the 3D inventory window, you can manipulate the compass attached to the device. The compass can be snapped to any geometry or tags while jogging. The robot then jumps to the new compass location.