Jogging

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. For more details on safety devices, see Safety.

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
  • The FANUC teach pendant has an on/off switch located in the upper left. This will allow or prevent modifications to programs and some motion systems.
• T1/T2/Auto Mode
  • When teaching the robot to perform tasks, we remove it from automatic mode and put it into a speed limited, higher safety mode.
• Distance Sensor
  • Directly below the robots is a distance sensor designed to detect the presence of people and objects, to prevent full speed motion when people are within a specific radius. This sensor is only used in AUTO mode, as T1 mode limits motion speed by default.
• Force Sensor
  • The robot can calculate payload and its own inertial mass to have a fairly accurate estimation of how much current should result in a desired acceleration and velocity. When the response of the robot arm is outside of expected tolerances for a given motion command, the robot enters a hard stop and applies the brakes. This is triggered often if a tool's DCS parameters have been set incorrectly and the end hits the bed, the arm itself, or the cage. It can also trigger when contacting a person, although not quickly enough to prevent injury.
  • The payload can be changed in settings if desired.
• Speed Limits
  • On our educational carts, the

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.

You can jog the robot by holding shift and one or more of the motion keys, after clearing all the alarms, to the position you desire to use.

Select the line of the motion instruction you want to teach, hold shift and press the on-screen button "touchup".

Jogging in Different Frames

Cartesian Space

In the world frame of reference, the following is true:

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.