Linear jog not working as expected

scazares.audisel

Hi everyone.

 

I have a IRB120 mounted normally (not upside-down) and I want to use the linear jog feature with the teach pendant. The problem is: while jogging in Z axis, the end of arm moves drawing a diagonal line with respect to the vertical, instead of drawing a line parallel to the vertical. The same odd movements are seen while jogging in X and Y axes. Could it be a bad setting in the robot configuration?, am I missing something while using the jogging feature?

 

The quaternion values configured in the Motion topic are: q1= 1, q2= 0, q3= 0, q4= 0

Which seems to be a good configuration for a normally-mounted robot.

 

Thank you in advance for your help.

 

Regards.

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graemepaulin

Hi,

 

Check that the coordinate system in the jogging window is on base or world not in tool or work object.

 

Regards

Graeme

 

graemepaulin2012-06-21 00:35:14