JOG monitor command Details When the status variable is supplied, and there is an error, the JOG command does not directly return an error. The error is simply returned in the status variable. Each time the JOG command is executed, the robot moves for up to 300 ms. Another JOG can be executed before the previous motion is completed. In fact, for extended smooth motion, subsequent JOG commands should be executed within 300 ms of the previous JOG command. The keep-alive mode can be used for that purpose. The keep-alive mode will have no effect after the timeout of 300 ms; it has an effect only before the robot stops. The following error conditions can be reported when the command is processed:
l Mode 1: The error *Illegal joint number* (-609) is returned if FREE mode is not permitted for the specified joint. l Mode 2: The error *Joint control of robot not possible* (-938) is returned if the robot does not support joint control. l Modes 3, 4, 8, 9: The error *Cartesian control of robot not possible* (-635) is returned if the robot does not support Cartesian control. l Mode 7: If the location cannot be reached, the motion stops at the limit of possible motion and the error *Location out of range* (-610) is returned when the motion stops. If any other motion error occurs during the motion (e.g., an obstacle is encountered), the associated error is reported. l Modes 7 and 9:
The error *Missing argument* (-454) is returned if a location is not specified. For mode 7, a straight-line motion is performed toward the specified location if the location is specified with a transformation. A joint-interpolated motion is performed if the location is specified with a precision point. However, if the robot does not permit the type of motion associated with how the location is specified (e.g., the Quattro robot does not permit joint-interpolated motion), the motion is performed in the manner that is permitted by the robot. When a robot joint is out-of-range, it can be driven into range in either of these ways:
l Go into MAN mode on the pendant, and manually control the joint. l Put the pendant in COMP mode, and use the JOG command to move the joint back into range. (JOG is allowed only in pendant COMP mode.) NOTE: Use of COMP mode when a joint is out of range is very restricted. All motion commands (except JOG) return a *Position out of range* error in that situation. In addition, JOG can move the joint only in the direction that moves the joint back into range.. Examples The following are some examples of proper use of the JOG command: eV+Operating System Reference Guide, 2.x,18321-000 Rev A Page 115