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3. JOGGING
In the degrees to jog box enter the number of degrees you wish
the robot to move and then press the corresponding "-" or "+"
button to move each joint. When jogging in joint mode You can
also jog the robot in individual motor steps by checking the "Jog
joint in steps" radio button. The second row of jog buttons allow
you to jog the robot in Cartesian coordinates; enter the distance
in millimeters you wish the robot to move and press the
corresponding "-" or "+" to jog the robot. The third row of jog
buttons allow you to jog the robot in tool coordinates; enter the
distance in millimeters you wish the robot to move and press the
corresponding "-" or "+" to jog the robot - this jogs the robot
according to the gripper: think of it as jogging the gripper around
depending on whatever direction it is oriented.
You can also jog the robot using an Xbox controller. Install the
Xbox software per the windows PC Xbox controller adapter
directions. To test it In the Windows start menu type joy.cpl and
then click on the menu option for the Xbox controller, this will
bring up a window that you can verify all the buttons are working.
In this AR2 software click the Xbox button, the indicators on the
screen should turn green and allow you to jog the robot per the
button list in the next section. When you turn on Xbox control all
jog distances are set to start at 5. All jogging is done with the D
pad (analog sticks are not used). There are 3 modes for Xbox
jogging - joint, Cartesian and reorient. The controller starts in joint
mode where the D pad will start out controlling J1 and J2, you can
then press the X button to shift to control J3 and J4, then press X
again to shift to J5 and J6.
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