Jogging in World vs Joint

Understand joint jog

In joint jog (JOINT), each jog key drives a single axis independently around its own joint coordinate system. This is the mode for reaching a specific axis angle, lining up mastering marks, or backing one axis out of a tight space. Because only one joint moves per key, the tool tip follows a curved path rather than a straight line.

Understand world jog

In world jog (WORLD), the tool center point moves along the fixed X, Y, and Z axes of the cell's world coordinate system, and the tool rotates about those same axes. Straight-line world jog is intuitive for approaching a part or fixture along the cell layout. The controller solves several joints at once to hold that straight line, so the arm posture can change noticeably while the tip travels a short distance.

Know the full jog type cycle

Each press of the COORD key steps the manual-feed coordinate system in the order JOINT, JGFRM, WORLD, TOOL, USER, then back to JOINT. JOINT is per-axis; WORLD, JGFRM, and USER are Cartesian frames that differ only in where their origin and axes sit; TOOL is Cartesian along the tool frame. The current jog type is shown in the status window near the top right of the pendant screen.

Ready the pendant before any motion

Turn the teach pendant enable switch on, then grip the three-position deadman switch to its midpoint. The robot moves only while the pendant is enabled and the deadman is held at midpoint; releasing it or squeezing it hard stops the robot immediately. Set the three-mode switch to T1 for teaching, which limits the tool center point and flange speed to 250 mm/sec.

Caution: Keep clear of the arm and keep your free hand off the workpiece while jogging. In T1 or T2 the safety fence may be open, so you are the last line of protection.

Select the jog coordinate system

Press COORD until the status window shows the jog type you want. Holding SHIFT while pressing COORD instead pops up an icon menu along the bottom of the screen so you can jump straight to a mode. Confirm the displayed jog type before you touch a jog key, since JOINT and WORLD produce very different motion from the same keypress.

Open the jog menu to confirm frame and group

Press COORD while holding SHIFT to open the jog menu at the top right. It shows the currently selected tool, jog, and user coordinate numbers, the active group, and whether the robot standard axes or a subgroup are selected. Tool selects 1 to 10 (use the decimal key for 10), user 0 to 9, and jog frame 1 to 5.

Caution: After changing a coordinate or group number, close the jog menu with PREV. Leaving it open lets an accidental numeric keypress switch frames, which can send the arm in an unexpected direction.

Set the feed rate override

The override key steps through VFINE, FINE, 1%, 5%, 50%, and 100%, and the current value shows at the top right of the screen. Higher override means faster jogging, so an unfamiliar operator should start low. At 100% the robot moves at its maximum jog feed rate, still clamped to 250 mm/sec at the tip and flange in T1 and T2.

Use VFINE or FINE for fine positioning

VFINE and FINE move the robot one small step per keypress rather than continuously, so you release and press the jog key again for each step. In the standard setting FINE advances 0.1 mm per step in linear jog and 0.001 degrees per step in joint jog, and VFINE is one tenth of that. Use these when nudging the tool onto a taught point or a mastering mark.

Read the status line before you move

The bottom status line shows the line number, the mode (for example T1), the program state, the jog type, and the override together, such as LINE 0 T1 ABORTED JOINT 30%. Reading it as one glance tells you exactly how the next keypress will behave. Make this check a habit before every jog session.

Use joint jog for mastering, range checks, and recovery

Choose JOINT when the goal is an axis angle rather than a tip position, such as driving an axis to its zero mark or checking travel toward a soft limit. Joint jog also frees a single axis out of a cramped pose without the coupled motion Cartesian jog would add. It is the reliable fallback when Cartesian jog will not resolve.

Use world jog to approach a part or fixture

Choose WORLD when you want the tool tip to travel a straight line relative to the cell, for example lowering straight down in Z onto a fixture or sliding in along X toward a workpiece. The fixed world axes match how the cell is laid out, which makes the motion predictable. Switch to joint jog for the final approach if the posture starts to look awkward.

Use tool jog to advance along the tool

Choose TOOL when you want the tip to move along the X, Y, and Z axes of the tool frame defined at the wrist, such as feeding straight in along the gripper or torch centerline. Tool jog depends on an accurate tool frame, so verify the frame number in the jog menu first. A wrong tool frame sends the tip off the intended line.

Define a jog frame for a skewed workpiece

When a fixture sits at an angle to the world axes, a jog frame (JGFRM) lets you jog straight along the part instead of the cell. Go to MENU, 6 SETUP, F1 TYPE, Frames, then F3 OTHER and select Jog Frame; teach it by three-point or direct entry. You can store five jog frames and switch among them; an unset jog frame falls back to the world frame.

Caution: Press F5 SETIND and enter the frame number to make the jog frame active. If you skip SETIND the jog frame stays inactive and JGFRM jog uses the world frame instead.

Toggle wrist joint feed and subgroup axes when needed

TOGGLE WRIST JOG switches between holding the tool attitude and letting the wrist joints move freely during Cartesian or tool jog; when free, the screen shows a W/ indicator such as W/TOOL. TOGGLE SUB GROUP switches jog between the robot standard axes and an added subgroup, and the J7 and J8 keys jog additional axes. Confirm which set is active in the jog menu before pressing a key.

What can go wrong: the robot moves the wrong way

If the arm jumps in an unexpected direction, the jog type, frame number, or group in the jog menu is usually not what you assumed. Release the deadman to stop, then open the jog menu with SHIFT and COORD and read back the tool, jog, user, and group values. Set them deliberately, close the menu with PREV, and re-verify the status line before moving again.

Caution: Never chase an unexpected motion by adding more jog input. Stop first, confirm the frame and group, then resume at a low override.

What can go wrong: Cartesian jog stalls near a singular point

Near a singular point the controller cannot resolve one joint configuration from the Cartesian target, so world, jog, user, or tool jog can slow or stop. Switch to joint jog to move the affected axis (often the wrist J5 near zero degrees) away from the singular pose, then return to Cartesian jog. This is expected geometry, so no reset is needed once the arm is clear.

What can go wrong: an axis trips overtravel and jog stops

If an axis reaches its travel limit the overtravel alarm stops motion and blocks further jogging in that direction. The manual's recovery is to hold SHIFT, press the alarm release key, and while still holding SHIFT jog the axis back within its range, then reset. Correct the cause of the reach before resuming normal teaching.

Caution: Route a repeated or hard-stop overtravel to a qualified technician and apply lockout/tagout before anyone enters the cell. Do not defeat or bypass the travel limit to keep working.

What can go wrong: the robot will not jog at all

If no jog key produces motion, check that the pendant enable switch is on and the deadman is held at its midpoint, since either off state puts the robot in an alarm condition. Confirm the three-mode switch is in T1 or T2, because a program can be run and the robot jogged from the pendant only in a test mode. Clear any standing alarm with RESET after correcting its cause, then try again at a low override.