Jogging Fanuc Robots

Two choices must be made when Jogging Fanuc Robots. They are:

• Coordinate System (Joint or Cartesian(World, User, Jog, Tool))
  • The coordinate system is displayed in the top right corner of the teach pendant

• • To change the coordinate system, press the COORD key on the teach pendant

• Jog Speed (in percent)
  • The jog speed will be shown in the top right corner of the teach pendant

• • Jogging using FINE and VFINE are incremental steps. NOTE: Release the jog key and press again to move another increment
  • To adjust jog speed by 5% up or down, press the arrow keys shown below

JOGGING IN JOINT MODE

1. Jogging in Joint Mode will rotate the associated joint directly

JOGGING IN WORLD FRAME (CARTESIAN MODE)

1. Jogging in Cartesian World Mode will jog the robot in a straight line along the associated X, Y, or Z Axis as shown below.  (NOTE: if you are standing behind the robot arm, the +X is forward, the +Y is left, and the +Z is up)
2. There are three additional movements that can be made at the end of arm in this mode:  Yaw (Rotation about the X Axis), Pitch (Rotation about the Y Axis), and Roll (Rotation about the Z Axis)

JOGGING PRE-CHECKS

1. Personnel are out of the Robot reach/zone
2. Emergency faults are reset
3. Fault light is not illuminated
4. MODE SELECT switch on the Robot Controller is in the T1 or T2 position

JOG THE ROBOT

1. Turn Teach Pendant Selector Switch to ON
2. Press COORD to select the coordinate system
3. Press UP % or DOWN % to adjust speed
4. Press deadman switch on rear of teach pendant in center position
5. Press and Hold the Shift Key, and press/hold the desired jog key associated with the direction to be moved.  Release this key to stop the jogging motion.  See below

ROBOT POSITION

1. To view the current robot position (in either Joint or Cartesian), press the POSN key at any time