Mitsubishi Electric SD Series - Move Robot in JOG Mode

Move robot is JOG mode Operation of Teaching Box R32TB
6 - 8
6.4 Move robot is JOG mode
The robot can be moved in steps by the JOG mode. This section describes the JOG mode based on a
6-axle vertical articulated arm robot. Axle configuration depends on the robot type used A detailed
description on the individual types of robot is contained in the technical manual of the respective
robot
6.4.1 JOG modes
There are 5 JOG modes:
Operating mode Mode Description
Articulated joint JOG
mode
R000862C
앫 Set the [MODE] switch of the
Teaching Box to "ENABLE".
앫 Keep the three-step switch in the middle
position.
앫 Then press the [SERVO] key. (The servo
power supply is switched on).
앫 Press [JOG]- and the [F1] key to switch to
articulated joint JOG mode.
앫 To move the articulated joints, press
appropriate keys J1 to J6.
The axles of the robot can be moved
individually in articulated joint JOG mode. This
allows axles J1 and J6 and auxiliary axles J7
and J8 to be set independently. The number of
axles depends on the type of robot.
Auxiliary axles J7 and J8 are controlled by keys
[J1] and [J2].
Tool JOG mode
R000863C
R000864C
Execute the three points listed above.
앫 Press the function key to switch to the tool
JOG mode.
앫 To move the axles, press appropriate key X,
Y, Z, A, B, C.
The position of the tipped tool can be moved
along the axles in the tool coordinate system
in tool JOG mode.
The tipped tool is moved linearly. The position
of the robot can be rotated by keys A, B and C
around axles X, Y and Z of the tool coordinate
system without changing the position of the
tipped tool. The middle point of the tool must
be set by parameter MEXTL.
The tool coordinate system in which the
position of the tipped tool is determined
depends on the robot type. In case of vertical
articulated arm robots, the direction from the
gripper flange to the tipped tool is defined as
+Z.
In case of SCARA robots, the direction
upwards from the assembly area is defined as
+Z.
XYZ JOG mode
R000865C
Execute the three points listed above.
앫 Press the function key to switch to the XYZ
JOG mode.
The position of the tipped tool can be moved
along the axles in the XYZ coordinate system
in XYZ JOG mode.
The position of the robot can be rotated by
keys A, B and C around axles X, Y and Z of the
XYZ coordinate system without changing the
position of the tipped tool. The middle point
of the tool must be set by parameter MEXTL.
Tab. 6-1: JOG modes (1)
+J6
+J1
-J1
-J6
-J5
+J4
-J4
-J2
+J5
+J2
-J3
+J3
-
+Z
+Y
+X
+C
-C
-B
+B
+A
-A
-
+X
+Y
+B
+C
-C
-B
+Z
-A
+A