User Guide

The „Joint“ mode allows to turn the single robot axis from A1 to A4. In “Cartesian”
mode the robot moves in straight lines following the x, y and z coordinate axis. The
rotation is defined with the B commands. In „Cartesian Tool” mode the robot moves
aligned to the current tool coordinate system.
The override scales the motion speed between 0 and 100%.
Pic. 9: Buttons to jog the robot in Cartesian mode. In joint mode the buttons change to the axis A1 to A4.
Software and Hardware End Stops: The software limits the joints
rotation when it reaches the software stops defined in the robot config
file. In joint 1 and joint 4 there are additional hardware end stops.
While jogging in Cartesian mode virtual walls can be switched on to limit the motion
and thereby avoiding e.g. collisions. See section 7 for details.
When the virtual walls are active the robot blocks further motions and
generates warning sounds when leaving the allowed area. These
restrictions do not hold in joint mode.
The most convenient way to move the robot is with a connected joypad, the picture
below shows the assignment of keys.