4.5 Using Jog Mode NOTE: You cannot use jog control to move a robot while in COMP mode. Joint Mode When Joint mode is selected, movement is about the axis of the specified joint. The following figure shows a Cobra robot with three rotational joints (Joints 1, 2, and 4) and one translational joint (Joint 3). Positive rotation of Joints 1 and 2 is counterclockwise as viewed from above. Pos- itive rotation of Joint 4 is clockwise as viewed from above. Positive movement of Joint 3 is downward. Different robots or motion devices will have different joint numbers assigned to their joints.
When you first move an unfamiliar robot using Joint mode, set the jog speed to 10 or lower, put the robot in a safe area, and carefully move the robot using the different joint numbers to verify how the pendant moves the robot. See the documentation for the motion devices you are using for details on their joint assignments. Figure 4-8. Joint Mode (Four-Axis Cobra Robot Shown) To position the robot while in Joint mode: 1. Press the Jog Mode button until Joint is displayed in the Jog Mode indicator. 2. Press and hold the '+' button to move the robot joint in the positive direction; press and hold the '–' button to move the robot joint in the negative direction.
World Mode When World mode is selected, movement in the X, Y, or Z direction is parallel to an axis of the World coordinate system. T20 Pendant User's Guide, 10433-000 Rev. E Page 25 of 50