Epson TP1 Manuel D’Utilisation

Operation  2. TEACH Mode 

 

32 

TP1  Rev.5 

 

2.1  [Jog & Teach] 

This section indicates settings in the [Jog&Teach] screen.   

(1)

  Switch the mode selector key switch to “Teach” to display the following screen.   

 

(2)

  Set the data items currently displayed in the [Jog&Teach] screen.   

(See 2.1.1 to 2.1.6.) 

(3)

  Note down the robot position. (See 2.1.9.)   

(4)

  Back up the point data to a file. (See 2.1.10.)   

 

2.1.1  Specifying Point No. 

Change the value at [Point] using the <

↑> and <↓> keys to specify a point No.   

Changing the point No. changes the indication at [Label]. 

 

2.1.2  Specifying Jog Mode 

Press the <Jog Mode> key and specify the [Jog Mode]. (World, Tool, Joint, ECP) 
The default setting is “World”.   

World  : Jogs the robot along the X, Y, Z axes in the current local, tool, arm, and ECP.     

For robots with 4 DOF, you can also jog U (roll).     
For robots with 6 DOF, you can jog U (roll), V (pitch), and W (yaw).    This is 
the default setting.   

Tool  : Jogs the robot in the coordinate system defined by the current tool. 

Joint  : Jogs each joint of the robot.     

A separate set of jog buttons will appear when using joint mode when using 
non-Cartesian robots. 

ECP  : Jogs the robot along the axes of the coordinate system defined by the current 

external control point.    Coordinates are World coordinates.