Manual TCP Jog in Run Mode, using Teach Pendant

Technical Questions
1

Hello,

I am looking into sending movement commands via the Teach Pendant, whilst a program is running.
Essentially we would want to display Jog commands during Run Mode, which can be used by operator to jog the tcp in y-axis whilst the program is running.

How would we go about doing this?

Thanks,
Tafadzwa Mawire

2

Hi,
i dont think that there is a possibility to use the jog mode while the program is running but if it is ok when the operator is guiding the robot by hand you could use the force mode and set the Force of the Y-Axis to zero.

Otherwise you could use the Assignment Command and ask the Operator if he wants to travel in + or - direction (Maybe with numeric input).

Hope this will help you.
Greetings.

3

Hi,

In addition to benjamin.wu’s approach, you can use the freedrive_mode() script function with the optional parameters to restrain the movement to one axis only.

E.g.
freedrive_mode(freeAxes=[0,1,0,0,0,0], feature=“tool”)
the robot is compliant in the Y direction relative to the tool feature

Another option could be to use a push switch connected to a digital input, and then run a loop that moves the robot in small increments through the desired direction while the switch is being pressed.

Best Regards
Anibal Hillier