Tool：工具選擇。(tool0，即為腕坐標系) Wobj：工件坐標系選擇。
Incremental：點動速度選擇。
No(Nomal正常) Small(慢) Medium(中等) Large(快)
Jog in Base coordinates
The point that will move linearly, along the axes of the coordinate system above, is called tool0. It is located at the front of the upper arm, in the centre of the robot’s faceplate.
那個沿著坐標系軸直線運動的點，叫做tool0，，，，它位於上臂前面，機器人六軸面板的中心。
Tool Centre Point 0
IRC5 Basic Operation And Programming Training 基本操作及編程培訓
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7.5 Jog the robot 移動機器人移動機器人移動機器人移動機器人
Step Action Info/Illustration
1 Press and hold the enabling button halfway in.
按住使能鍵，使其在中位
If the enabling button is not pressed the unit’s motors will not be activated.
如果不按使能鍵，馬達將不被 激活
2 Move the joystick to make the mechanical unit to move.
搖動操作杆，使機械單元運動
The greater the deflection of the joystick, the faster the unit
moves.搖杆偏轉或偏斜越多，
機器人運動越快。
If you want to … 假如你想… … then … …那末…
Move the robot along the X axis 沿 X 軸運動 Move the joystick towards or from you 操作方向為操作者前後方向
Move the robot along the Y axis沿 Y 軸運動 Move the joystick to the left or right 操作方向為操作者的左右方向 Move the robot along the Z axis沿 Z 軸運動 Twist the joystick to the left or right
操作方向為操縱杆正反旋轉方向 As a safety precaution the mechanical unit can’t go faster than 250 mm/s.
為了安全起見，在手動狀態下, 機械單元的移動速度將低於250 mm/s。
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8 8 8
8 Precise positioning Precise positioning Precise positioning Precise positioning 精確定點 精確定點 精確定點 精確定點
8.1 Incremental movement 步進運動 步進運動 步進運動 步進運動
Incremental movement may be used to adjust the position of the robot. This means that each time the joystick is deflected; the robot moves one step (increment). If the joystick is deflected for one or more seconds, a sequence of steps, (at a rate of 10 steps per second), will be generated as long as the joystick is deflected.
調整機器人的點位時，可能會用到步進運動。這意味著每次操縱搖杆偏移或偏轉，機器人運動一步。如果 操縱杆偏移一秒以上，機器人會持續的步進運動（一秒十步）.在操作杆偏移時，機器人始終移動。
Procedure: 操作步驟：
Step Action 步驟 Info/Illustration 信息/圖例
1 On the ABB menu, tap Jogging to display the jogging properties.按 ABB 菜單，顯示操縱屬 性、
2 Tap Increment:
按增量
The function keys are displayed.
3 Select the desired function key, and tap OK 選擇希望的功能鍵，按 OK.
4 Try operating the robot using the joystick and note how the robot moves
試著搖動機器人，並注意它的運動方向.
5 Switch to continuous movement.
切換至連續運動
Choose between small, medium and large increments or define your own custom size
Increment增量 Distance距離 Angular角度
Small小 0,05 mm 0,005°
Medium中 1 mm 0,02°
Large大 5 mm 0,2°
*User defined用戶自定義 0,50 – 10,0 mm Axes軸: 0.01°-0.20°
Reorientation旋轉: 0.03°-0.50°
IRC5 Basic Operation And Programming Training 基本操作及編程培訓
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8.1.1.1.1 TIP! 提示！
Use the QuickSet menu to switch between continuous and incremental movement and to select increment size faster使用. 快捷菜單鍵快捷菜單鍵快捷菜單鍵快捷菜單鍵快速切換連續運動或步進運動，並設置增量大小。
Step Action 步驟 Info/Illustration
1 Tap the Quickset Menu button.按 Quickset Menu 鍵 2 Tap the Increment button.按 Increment 鍵
3
After tapping Increment, the following buttons are displayed:
按增量增量增量鍵後，顯示下列按鈕： 增量 A: No movement increments沒有增量 B: Small movement increments增量為小 C: Medium movement increments增量中等 D: Large movement increments增量為大
E: Movement increments to be defined by the user. 增量用戶自定義 4 Select increment size.
選擇增量大小
5 Tap the Quickset Menu button to close the window.
按快捷菜單快捷菜單快捷菜單鍵關閉窗口 快捷菜單 B
A
D C
E
G
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9 9 9
9 Load a program Load a program Load a program Load a program 加載程序 加載程序 加載程序 加載程序
This chapter explains how to load a program. A program is usually made up of three different parts, one main routine (always present), a number of subroutines and program data. Only one main routine is permitted per program.
這節講述如何加載一個程序。一個程序通常有三部分組成：一個主程序，若幹個子程序和程序數據。在程 序中，只允許一個主程序存在。
Program structure.
If you load a program, that program replaces the program in the robot’s memory. When a program is loaded, the main routine will be shown on the display with the first instruction in the main routine selected (highlighted).
當你加載一個程序時，此程序會代替當前內存中的程序。加載程序後，主程序會自動顯示，並且指針在主 程序第一行。
9.1 Load an existing program 加載一個已存在的程序 加載一個已存在的程序 加載一個已存在的程序 加載一個已存在的程序
Step Action 步驟 Info/Illustration
1 On the ABB menu, tap Program Editor.
在 ABB 主菜單上，選程序編輯器程序編輯器程序編輯器程序編輯器。
2 Tap Task and Program. 選任務與程序任務與程序任務與程序任務與程序
3 If no program is loaded into the task, a dialog box is displayed.
如果任務中沒有程序，顯示下列對話框
Tap New if no program is available and one is to be created.
如果沒有程序，需要創建，按新建新建新建 新建
Tap Load if a previously written program is to be used.
如果有程序，按加載程序加載程序加載程序 加載程序
After tapping Load, a file-searching tool is displayed.
按加載程序加載程序加載程序後，加載程序 ，，，顯示文件搜索工具。。。。
4 In order to make room for the new program, first delete any previously loaded program.
為了給新程序滕出空間，可以先刪除先前加載的程序
5 Use the file-searching tool to locate the program file to be loaded. Then tap OK.
The program is loaded and the following screen is displayed:
使用搜索找出需要加載的程序。按確認，程序被加載，顯示下列程序