Jogging the robot

 

 

About this topic

Jogging the robot moves the robot in small, precise increments. You can jog the robot to fine-tune its position when creating and editing teachpoints or during troubleshooting.

The BenchBot Robot movements can be controlled or monitored from two different perspectives:

•	Joint space

•	Tool space

This topic explains how the two perspectives are different and how to jog the robot in each perspective.

Joint space

You can use a joint-space command to rotate the robot about its shoulder (1), rotate its forearm about the elbow (2), or rotate the hand about the wrist (3). In addition, you can move the robot arm up and down along the mast or z-axis (4).

 

Tool space

You can use a tool-space command to move a combination of robot joints so that the labware moves to its target location, (x, y, z, yaw). In tool space, all movements are relative to the current position of the center of the labware.

 

Procedure

To select a perspective:

In the Jog/Move tab, select Tool or Joint.

 

To jog the robot:

1	Select or type the jog increment for the axis or joint you want to move. The jog increments are in millimeters or degrees.

 

CAUTION Always select small jog increments so that the robot does not bump into obstacles in its path.

 

2	Click one of the jog direction buttons.

 

WARNING  Stay out of the system while the robot is in motion.

 

In the Robot Status area, the robot coordinates are updated.

 

 

 

Related information

 

For information about...	See...
Homing the robot	Homing the robot and grippers
Moving the robot into the robot zone	Retracting the robot into the robot zone
Disabling and enabling the robot motor	Disabling and enabling the robot joint motors
Stopping the robot motors	Stopping the robot motors
Changing the robot speed	Changing the robot speed
Changing the robot speed definitions	Changing the robot speed definitions
Opening and closing the robot grippers	Opening and closing the robot grippers
Changing the gripper settings	Changing the gripper settings
View the Robot Status area	Checking the robot status and log
Viewing the log area	Checking the robot status and log
Updating the firmware	Updating the firmware
Backing up the robot firmware	Backing up the robot firmware
Installing new or restoring existing firmware	Installing new or restoring existing firmware
Setting teachpoints	Setting teachpoints
Moving labware between teachpoints	• Moving the robot to the new teachpoint • Picking up labware at the teachpoint • Placing labware at the teachpoint • Transferring labware between two teachpoints