Jogging: Difference between revisions

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Revision as of 12:15, 6 May 2019

Jogging the robot means moving it around manually via the teach pendant.

Clearing the Alarms To Allow Motion

FANUC employs many safety features that make the job of programming, repairing, and setting up much less risky. FANUC even offers collaborative robots that are designed to be safe for working around (and with) during active operation.

In our lab, the primary safety devices are as follows:

Emergency Stops
- Emergency Stop Buttons are available on the Teach Pendant and the Operator Panel on the robot's controller. Push in to enact an emergency stop, pull out to disable it.
Operator Presence Control or "DeadMan Switch"
- The FANUC teach pendant's Operator Presence Control is a 3 position switch available on both the left and right back side of the controller. While holding the controller for motion, you will have to press the button in to the middle position to enable motion. Pressing it in two far (past the first "click") will disable it again. Using a properly adjusted wrist strap helps keep your hand steady and in the correct position for the Operator Presence Control.
Teach Pendant Switch
T1/T2 Mode
Distance Sensor
Force Sensor
Speed Limits

Other common safety devices include:

Cell Cages
Magnetic Reed Switches on Doors and Panels
Light Curtains
Laser Interrupt

Jogging for Teaching Points

Teaching points on the FANUC robot is a bit easier than just measuring and then entering numbers on the teach pendant.

Jogging in Different Frames

Cartesian Space:

X - The X axis on our robot is the forward and back motion of the robot. Standing in front of the robot cart, positive X is toward you.

Y - The Y axis on our robot is the left and right motion of the robot. Standing in front of the robot card, positive Y is to your right.

Z - The Z axis on our robot is the up and down motion of the robot. Standing in front of the robot card, positive Z is up.

W - The W axis is YAW and is the rotation around the X axis.

P - The P axis is Pitch and is the rotation around the Y axis.

R - The R axis is Roll and is the rotation around the Z axis.

@@ Line 6: / Line 6: @@
 In our lab, the primary safety devices are as follows:
 * Emergency Stops
+**Emergency Stop Buttons are available on the Teach Pendant and the Operator Panel on the robot's controller. Push in to enact an emergency stop, pull out to disable it.
-* DeadMan Switch
+* Operator Presence Control or "DeadMan Switch"
+**The FANUC teach pendant's Operator Presence Control is a 3 position switch available on both the left and right back side of the controller. While holding the controller for motion, you will have to press the button in to the middle position to enable motion. Pressing it in two far (past the first "click") will disable it again. Using a properly adjusted wrist strap helps keep your hand steady and in the correct position for the Operator Presence Control.
 * Teach Pendant Switch
 * T1/T2 Mode
@@ Line 13: / Line 15: @@
 * Speed Limits
+Other common safety devices include:
+* Cell Cages
+* Magnetic Reed Switches on Doors and Panels
+* Light Curtains
+* Laser Interrupt
+<br />
 == Jogging for Teaching Points ==
@@ Line 26: / Line 36: @@
 '''X''' - The X axis on our robot is the forward and back motion of the robot. Standing in front of the robot cart, positive X is toward you.
 '''Y''' - The Y axis on our robot is the left and right motion of the robot. Standing in front of the robot card, positive Y is to your right.
 '''Z''' - The Z axis on our robot is the up and down motion of the robot. Standing in front of the robot card, positive Z is up.
 '''W''' - The W axis is YAW and is the rotation around the X axis.
 '''P''' - The P axis is Pitch and is the rotation around the Y axis.
 '''R''' - The R axis is Roll and is the rotation around the Z axis.