1. Explain and perform the steps to power up the robot.
1. Perform safety check around the work area
2. Turn on the power pushbutton
3. Enable the motor drives
2. Explain how to use the Jog keys and their functions.
Once the JOG key is turned on, there will be two indicator lights.
1. The Jog Speed key will indicate fast or slow jog.
• Fast Jog speed is used whenever the robot needs to cover a larger distance at
minimal control and with a fast speed
• Slow Jog speed is used whenever the robot needs to have precise positioning.
2. The SEL key is used to change direction (right/up, left/down)
3. Discuss the procedures on how you can jog the robot in the position as shown in figures
a, b and c. (For questions on Jogging and Teaching Points, just provide the details on how to
set up and adjust the settings of the robot then you can just write – jog the robot to point a, b
or c)
• In order to Jog a robot, press the STA key
• Then the ENA key
• Then press the JOG key
a. After pressing the JOG key, the light indicator will pop up on the teach pendant. The
light on the jog key will tell you the speed either its fast or slow
b. The light on the SEL key will also light up this will tell you what direction like up,
down, left, right.
• In order to position the robot as shown in figure a,b, and c you need to click the SEL
key since it will determine the position of the robot.
a. For figure A: press SEL key to make the robot go down, then press
number 3 axis to jog the elbow downward
b. Figure B: Form current position in fig A, Press SEL key for left
direction, the press number 1 axis to jog the waist to the left. Press SEL key
for for downward direction, then press axis 3 to jog the elbow. Press SEL key
for upward direction, then press axis 4 to jog the pitch
c. Figure C: From current position in fig B, press SEL key to turn right,
the press number 2 to jog the shoulder. Press SEL key for up direction, then
press axis 3 to jog the elbow. Press SEL key for downward direction, then
press axis 4 to jog the pitch.
• After positioning the robot, you have a choice to adjust the speed setting by pressing
the JOG key
4. Explain and perform the steps on how to change the fast jog speed to 230 units from the
Main Menu.
1. Disable the jog key first
2. Go to any jog function
3. Press fst to fast jog speed
4. Enter the “230” number on the numeric keypad
5. Explain and perform the steps on how to change the slow jog speed to 3 units from the
Main Menu.
1. Disable the jog key first
2. Go to any jog function
3. Press slw to slow jog speed
4. Enter the “3” number on the numeric keypad
6. Test your new fast and slow jog setting by jogging the robot in the position as shown in
figures a, b and c.
Waist (axis 1)
Shoulder (axis 2)
Elbow (axis 3)
Pitch (axis 4)
Roll (axis 5)
Figure A: Press SEL key for downward direction then press the number 3 axis to jog the
elbow downward
Figure B: Form current position in fig A, Press SEL key for left direction, the press number 1
axis to jog the waist to the left. Press SEL key for downward direction, then press axis 3 to
jog the elbow. Press SEL key for upward direction, then press axis 4 to jog the pitch
Figure C: From current position in fig B, press SEL key to turn right, the press number 2 to
jog the shoulder. Press SEL key for up direction, then press axis 3 to jog the elbow. Press
