JOG program instruction JOG program instruction Syntax JOG (status) robot, mode, axis, speed, location, appro_dist Function Moves ("jogs") the specified joint of the robot, or moves the robot tool along the specified Cartesian direction. Each time JOG is executed, the robot moves for up to 300 ms. Usage Considerations The specified robot cannot be attached by any other task when using a mode other than COMP. Otherwise, the error message *Robot interlocked* is generated. The robot can be attached by the current program, but it does not need to be attached.
If the robot is not attached when the JOG instruction is executed, remember to attach the robot after the JOG instruction before executing any other motion instructions. After the robot is moved with the JOG instruction, the system is left in MANUAL mode (i.e., as though a manual mode had been selected on the pendant). JOG mode 5 (or the pendant) can be used to restore COMP mode. Otherwise, an error *COMP mode disabled* will be returned when a task attempts to attach the robot. If a joint is out of range, the JOG instruction can be used to bring the joint back into range. See the Details section for more information.
Parameters status An optional status variable (returns 1 for success; otherwise, contains a eV+ error code) robot Specifies the robot number. mode Specifies the jog mode, as follows: eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 310 -1 Keep-alive mode. Continues the previous instruction for another 300 ms. 1 Free joint mode. A positive speed will put the specified joint(s) in Free mode. A negative speed will put the specified joint(s) out of Free mode. 2 Individual joint control.