JOG monitor command (See the Details for information about errors associated with the modes.) axis Specifies the joint number or Cartesian coordinate (X=1, Y=2, ...), depending on the specified jog mode (see above), for the desired motion. This parameter is ignored for modes 7 and 8, but a value must always be specified. speed Specifies the speed and direction of the motion. This is interpreted as a percentage of the speed in manual mode. Values above 100 are interpreted as 100%, values below -100 are interpreted as -100%. If Free mode is specified, a positive speed will put the given joint in free mode and a negative speed will put the joint out of free mode.
location Optional transformation, precision point, location function, or compound transformation that specifies the destination to which the robot is to move. This parameter is ignored (and can be omitted) for all modes except 7 and 9. appro_ dist Optional real-valued expression that specifies the distance along the robot tool Z axis between the specified location and the actual desired destination. A positive distance sets the tool back (negative tool-Z) from the specified location; a negative distance offsets the tool forward (positive tool-Z). This parameter is used only for mode 7. eV+Operating System Reference Guide, 2.x,18321-000 Rev A Page 114 3 World coordinates control.
4 Tool coordinates control. 5 Restore COMP mode. 7 Jogs towards the specified location using the specified speed. 8 Jog toward alignment of the robot tool-Z axis with the nearest World axis. 9 Cartesian control relative to a frame defined by the specified location.