User`s guide

5. The EPSON RC+ 5.0 GUI
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 81
Speed
The speed for jogging and motion commands can be changed by selecting Low or High.
When the Robot Manager is first open, the speed is set to Low. Jogging is always in low
power mode. The speeds and accelerations associated with the jog speed settings are
shown in the next page.
Jog Speed Jog Method Speed Accel Decel
Continuous World/Tool/ECP XYZ 10 mm/sec 100 mm/sec
2
200 mm/sec
2
Continuous World/Tool/ECP UVW 2 deg/sec 20 mm/sec
2
40 mm/sec
2
Continuous Joint * 10 mm/sec
2
20 mm/sec
2
Low
Step 1/5 of default PTP speed
Default PTP
acceleration
Default PTP
deceleration
Continuous World/Tool/ECP XYZ 50 mm/sec 100 mm/sec
2
200 mm/sec
2
Continuous World/Tool/ECP UVW 10 deg/sec 20 mm/sec
2
40 mm/sec
2
Continuous Joint * 10 mm/sec
2
20 mm/sec
2
High
Step Default PTP speed
Default PTP
acceleration
Default PTP
deceleration
*Continuous joint speed and acceleration depends on robot model
Jog Buttons
The jog buttons are used to jog the robot throughout the work envelope. They can be
actuated only with the mouse.
You can jog one step at a time by setting the Jog Distance to Long, Medium, or Short and
then clicking on a button and releasing. You can step continuously by holding the button
down. To jog continuously without stepping, set the Jog Distance to Continuous. See
How to jog robot for details
You can change the orientation of the jog buttons to align your PC monitor with the robot
from Setup: Preferences: Robot Manager: Jogging.
The jog buttons that are displayed depend on the Jog mode. For World, Local, Tool, and
ECP jogging, the X, Y, Z, U, V, W buttons appear (V and W are enabled only for 6-Axis
robots). For Joint jogging, the joint buttons appear, labeled J1 - J6.
The X, Y, and Z buttons jog the robot along the associated Cartesian axis.
The U buttons rotate the tool coordinate system about the Z axis. This is also known as
roll.
For 6-Axis robots, the V buttons rotate the tool coordinate system about the Y axis. This is
also known as
pitch. The W buttons rotate the tool coordinate system about the X axis.
This is also known as
yaw.