2.3 JOGGING THE ROBOT

2.3.1 Overview

Jogging is moving the robot axes by pressing keys on the teach pendant. Before you add a motion instruction to a teach pendant program you must first jog the robot to the position you want.

The following items affect the way the robot jogs and the axes that move while jogging:

  • Jog speed - How fast the robot moves when jogging

  • Coordinate system - The way the robot moves when jogging

  • Minor axis wrist jogging - How the wrist axes will jog

  • Remote TCP jogging - Whether the tool is fixed in the workcell

  • PATH jogging - Jog coordinate system corresponds to current path

The following items affect the axes that move while jogging:

  • Motion Groups - Which motion group is selected

  • Extended axes and motion sub-groups - Which extended axes or sub-group that is selected

    Note

    Some items listed above might not be supported by your software application.


2.3.2 Jog Speed

The jog speed is a percentage of the maximum speed at which you can jog the robot. The current jog speed is displayed in the top right corner of every teach pendant screen.

A jog speed of 100% indicates that the robot will move with the maximum possible jog speed. The maximum possible jog speed varies depending on the robot model. The maximum possible jog speed is defined by the tool center point (TCP) moving at and below 250 millimeters per second. A jog speed of FINE or VFINE indicates that the robot will move in incremental steps. Table 2.1 Jog Speed Values lists all the possible values of the jog speed.

Note

When you use FINE and VFINE speed values, the robot moves one step at a time. You must release the jog key and press it again to move the robot again.


Table 2.1 Jog Speed Values

Speed ValuesJointCartesian
100, 95, 90, 85, ... 20, 15, 10, 5, 4, 3, 2, 1% of jog speed% of jog speed
FINE (incremental steps)Approximately 0.001 degreesApproximately 0.023 mm
VFINE (incremental steps)Approximately 0.0001 degreesApproximately 0.002 mm

The jog speed keys on the teach pendant are used to increment or decrement the jog speed. The SHIFT key combined with a jog speed key causes the jog speed to be changed between 100, 50, 5, FINE, and VFINE. Figure 2.1 Jog Speed Keys shows the jog speed keys.

Figure 2.1 Jog Speed Keys

Set the jog speed to a value that is appropriate for the conditions in the workcell, the kind of jogging the robot is doing, and your own experience in jogging a robot. Use a slow jog speed until you are familiar with the robot. The slower the jog speed, the more control you have over robot motion.

Note

The jog speed increments only when the COORD/JOG SPEED screen on the teach pendant is displayed.


  • Press the COORD or +% or -% jog speed key to display the COORD/JOG SPEED screen.

  • Press the +% or -% jog speed key again to change the jog speed values.

2.3.3 Coordinate Systems

In jogging, a coordinate system defines how the robot will move. There are five coordinate systems:

  • JOINT

  • XYZ - includes WORLD, JGFRM, and USER

  • TOOL

  • PATH - (ArcTool only).

  • LDR 2 - refer to the FANUC Robotics SYSTEM R-J3iB Controller Coordinated Motion Manual

You change the coordinate system by pressing the COORD key on the teach pendant, shown in Figure 2.2 COORD Display . The coordinate system you choose is displayed in the upper right hand corner of the teach pendant screen, and on the teach pendant indicators. Table 2.2 LCD Indicators indicates the LED or LCD indicator that corresponds to the coordinate system you choose.

Figure 2.2 COORD Display

Table 2.2 LCD Indicators

LCD

Coordinate System

JOINT

JOINT

XYZ

WORLD, USER, JGFRAME

TOOL

TOOL

PATH

PATH (ArcTool only)

Refer to Table 2.3 Coordinate Systems for listings and descriptions of the JOINT, XYZ, and TOOL coordinate systems.

Table 2.3 Coordinate Systems

COORDINATE SYSTEM AND LED OR LCD DISPLAYDESCRIPTIONILLUSTRATION

Moves the individual axes of the robot.

Moves the robot TCP in the x, y, or z directions and rotates about x (w), y (p), or z (r).

Moves the robot TCP in the x, y, or z direction and rotates x(w), y(p), and z(r) in the selected tool frame.

2.3.4 Wrist Jogging

The wrist jog function allows you to control how the robot axes will jog when you are using a Cartesian coordinate system, such as WORLD or TOOL. In wrist jog, the wrist axes are fixed and do not change when jogging in x, y, and z coordinates. This is helpful when you have to jog in the x, y, and z directions through a singularity position.

When you jog a wrist axis using wrist jog, the other wrist axes will remain stationary and the rest of the robot axes will move to accommodate the movement of the wrist axes to maintain a fixed TCP location.

Note

If you are using a paint application, the gun orientation changes relative to the part and affects only the fan pattern.


You select wrist jog using the FCTN menu. When you select wrist jog, "W/" appears next to the coordinate system name displayed on the teach pendant screen as shown below.

PROGRAM NAME                       W/TOOL 10%

Use Procedure 2.3 Jogging the Robot and Other Axes to select wrist jog and jog the axes.

2.3.5 Remote TCP Jogging

The optional remote TCP jog function allows you to control how the robot axes will jog. This is useful for applications in which the tool is fixed in the workcell and the robot manipulates the workpiece around the tool. The frame used for jogging is a user frame (UFRAME) you set up and select.

When remote TCP jogging is turned on, if you move the robot in x, y, or z using the TOOL coordinate system, the robot moves as it normally would without remote TCP jogging. If you move the robot in w, p, and r (rotational moves), the rotational center will be the remote TCP position.

In remote TCP jogging, an invisible tool is established to connect the faceplate to the remote TCP position. For example, if you select the WORLD coordinate system and jog the robot in w, the invisible tool will rotate along the WORLD x-axis. If you select the TOOL coordinate system and jog the robot in w, the invisible tool will rotate along the TOOL x-axis.

You select remote TCP jogging using the FCTN menu. You also select the remote TCP frame using the FCTN menu. When you select remote TCP jogging, "Rn/" appears next to the coordinate system name displayed on the teach pendant screen, where "n" is the number of the user frame, which can be from 1 to 5 as shown below.

PROGRAM NAME                   S  R1/TOOL 10%

You can perform remote TCP jogging only if you have selected a Cartesian coordinate system such as WORLD, TOOL, JOGFRAME, or USER. You cannot perform remote TCP jogging if you have selected the JOINT coordinate system. Use Procedure 2.3 Jogging the Robot and Other Axes to select remote TCP jogging, select the remote TCP frame, and jog the axes.

2.3.6 Motion Groups (not available with DispenseTool)

A motion group defines different groups of axes that can be used for independent pieces of equipment, positioning tables, and other devices. There are five motion groups available. The controller can operate a maximum of 16 axes, however, only nine axes can belong to a single group. If your system contains more than nine axes, there is more than one group that controls motion. The robot is in Group 1.

When you create a program, you define the group mask which is the group of axes that the program will control. A single program can be defined to use all five motion groups, but a maximum of two motion groups can perform Cartesian interpolated motion within a single program.

With multiple groups, the axes that jog depend on which group you have selected. You select groups using the FCTN menu or by pressing the SHIFT and COORD keys. Use Procedure 2.3 Jogging the Robot and Other Axes to select groups and jog the axes.

To change the group number, you can also use the jog menu. Refer to Section 2.3.8.

2.3.7 Extended Axes and Sub-Groups

Extended axes are the available axes controlled by the controller beyond the standard number of robot axes. There is a limit of three extended axes per motion group.

Extended axes become a sub-group of the motion group to which they belong. Normally, the teach pendant keys control the first six robot axes. To jog the extended axes in a sub-group, you must first select the sub-group. You select sub-groups using the FCTN menu. The status line at the top of the screen displays whether a sub-group is being used, as shown below.

PROGRAM NAME                     S  JOINT 10%

For example, if the sub-group controls axes 7, 8 and 9, select the sub-group and then refer to Table 2.4 SubGroup Example.

Table 2.4 SubGroup Example

For Axis Number

Use Jog Keys

7

+X, -X

8

+Y, -Y

9

+Z, -Z

To change the sub-group number, you can also use the jog menu. Refer to Section 2.3.8 for more information.

Use Procedure 2.3 Jogging the Robot and Other Axes to select sub-groups and jog the robot and other axes.

Procedure 2.3 Jogging the Robot and Other Axes

Condition

  • All personnel and unnecessary equipment are out of the workcell.

  • All EMERGENCY STOP faults have been cleared. Refer to Section 7.2.

  • All other faults have been cleared and the fault light is not illuminated.

  • The MODE SELECT switch is in the T1 or T2 position.

    Warning

    Make certain that all safety requirements for your workplace have been followed; otherwise, you could injure personnel or damage equipment.


    Note

    If you are using ArcTool, the PATH coordinate system is available only when a program is paused while executing linear or circular motion instructions that do not use the wrist joint (Wjnt) motion option.


Step

  1. Select a coordinate system by pressing the COORD key on the teach pendant until the coordinate system you want is displayed in the upper right hand corner of the teach pendant screen, and on the teach pendant LEDs. You will see a screen similar to the following.

    PROGRAM NAME                     S  TOOL 10%

    Note

    The jog speed value will automatically be set to 10%, when the teach pendant is turned on, or when the controller is first powered up.


  2. Hold the teach pendant and continuously press the DEADMAN switch on the back of the teach pendant.

    Note

    If you compress the DEADMAN switch fully, robot motion will not be allowed and an error occurs. This is the same as when the DEADMAN switch is released. To clear the error, press the DEADMAN switch in the center position and press RESET.


  3. Turn the teach pendant ON/OFF switch to the ON position.

    Note

    If you release the DEADMAN switch while the teach pendant is ON, an error will occur. To clear the error, continuously press the DEADMAN switch and then press the RESET key on the teach pendant.


  4. If your system is configured with multiple motion groups, select the motion group you want to jog by doing the following:

    1. Press and hold the SHIFT key and press COORD to display the JOG menu.

    2. Move the cursor to GROUP and press the appropriate numeric key.

  5. If your system has extended axes, select the sub-group that you want to jog by doing the following:

    1. Press FCTN.

    2. Move the cursor to TOGGLE SUB-GROUP and press ENTER You will see a screen similar to the following.
      PROGRAM NAME                     S  JOINT 10%

    3. To de-select a sub-group press FCTN, move the cursor to TOGGLE SUB-GROUP, and press ENTER.

  6. If you want to use wrist jogging,

    1. Press FCTN.

    2. Move the cursor to TOGGLE WRIST JOG and press ENTER. The status line indicator for wrist jog is displayed in the upper right hand corner of the teach pendant screen. See the following screen for an example.
      PROGRAM NAME                   S   W/TOOL 10%

    3. To de-select wrist jogging press FCTN, move the cursor to TOGGLE WRIST JOG, and press ENTER.

      Note

      WRIST JOG is not available or applicable in "JOINT" mode.


  7. If you want to use optional remote TCP jogging,

    1. Select the Cartesian coordinate system you want to use for remote TCP jogging.

    2. Press FCTN.

    3. Move the cursor to TOGGLE REMOTE TCP and press ENTER. The status line indicator for remote TCP jogging is displayed as "Rn/" in the upper right hand corner of the teach pendant screen next to the coordinate system, where "n" is the number of the remote TCP frame.
      PROGRAM NAME                   S  R1/TOOL 25%

    4. Press FCTN.

    5. Move the cursor to CHANGE RTCP FRAME and press ENTER. Each time you select CHANGE RTCP FRAME, the user frame selection is advanced: from 1 (R1) to 2 (R2) to 3 (R3) to 4 (R4) to 5 (R5) and then back to 1 (R1). Select the user frame (UFRAME) you want to use for remote TCP jogging.

    6. To de-select remote TCP jogging, press FCTN and move the cursor to TOGGLE REMOTE TCP and press ENTER.

  8. Select a jog speed by pressing and releasing the appropriate jog speed key until the jog speed you want is displayed in the upper right hand corner of the teach pendant screen, as shown below.

    PROGRAM NAME                     S  TOOL 25%

    Note

    Set the jog speed to a low percentage (%) value if you are inexperienced in jogging the robot, or if you are uncertain how the robot will move.


    Warning

    In the next step, the robot will move. To stop the robot immediately any time during jogging, release the DEADMAN switch or press the EMERGENCY STOP button.


  9. To jog, press and hold the SHIFT key and continuously press the jog key that corresponds to the direction in which you want to move the robot. To stop jogging, release the jog key.

    Note

    If you have set the singularity stop system variable, $PARAM_GROUP[n].$T1T2_SNGSTP to TRUE, the robot will stop at singularity points while in T1 or T2 mode.


  10. When you are finished jogging, turn the teach pendant ON/OFF switch to OFF, and release the DEADMAN switch.

2.3.8 Jog Menu

The jog menu provides a method to check and change the following jogging information:

  • Currently selected frame number of each frame (TOOL, JOG, USER)

  • Currently selected group number

  • Currently selected sub-group type (ROBOT/EXT)

You will see a screen similar to the following.

TEST1
UTILITY                       TOOL  100%
                       | TOOL   (.-10  2|
                       | JOG           3|
                       | USER          1|
                       | ROBOT/EXT      |
                       +----------------+

Use Procedure 2.4 Using the Jog Menu to display and use the jog menu.

Procedure 2.4 Using the Jog Menu

Steps

  1. To display the jog menu, press and hold the SHIFT key and press the COORD key.

  2. Use the up and down arrow keys to move the cursor to the item you want to change.

  3. To change the number of each frame , press the appropriate numeric key. The item on which the cursor is located is changed to the new value. Valid frame numbers are as follows:

    • USER: 0-9

    • TOOL: 1-10 -- To select 10, press the "." (period) key on the teach pendant.

    • JOG: 1-5

      Note

      The text (.=10) does not appear and the "." key is not accepted if there are fewer than ten tool frames.


      Note

      The maximum number of tool frames is set in the system variable $SCR.$MAXNUMUTOOL. Refer to the FANUC Robotics SYSTEM R-J3iB Controller Software Reference Manual for more information.


  4. To change to sub-group (available only for systems with extended axes), move the cursor to ROBOT/EXT and press the left and right arrow keys.

  5. To change the group number (available only for multiple motion group systems), move the cursor to GROUP and press the appropriate numeric key. You can specify numbers only for existing motion groups.

  6. To close the jog menu ,

    • Press SHIFT and COORD again.

      or

    • Press the PREV key.

      You automatically close the jog menu after you enter a frame or group number.