Jogging the robot

 

 

 

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 Direct Drive Robot movements can be controlled or monitored from two different perspectives:

•	Joint space. You can use a joint-space command to rotate the robot about its waist (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 along the x-or y-axis. In addition, you can rotate the labware (Phi angle) and move the robot arm up and down along the mast or z-axis. In tool space, all movements are measured with respect to the center of the labware.

 

To select a perspective:

In the Jog/Move tab, select Tool space (1) or Joint space (2).

 

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 current joint and z-axis coordinates are updated.

 

 

 

Related information

 

For information about...	See...
Setting teachpoints	Setting teachpoints
Disabling and enabling the robot motors	Disabling and enabling the robot motors
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
Homing the robot	Homing the robot and grippers
Moving the robot into the safe zone	Moving the robot into the safe zone
Changing the robot speed	Changing the robot speed
Stopping the robot motors	Stopping the robot motors
Changing the robot display	Changing the robot display
Viewing the log area	Viewing the DDR Diagnostics log area