4.13 Robot Teaching Motion

Overview

The Jogging module provides jog-control interfaces for the robot in teach mode, supporting single-axis stepping, continuous jogging, multi-axis coordinated motion, and emergency stop.

Core Features

• Support for robot single-axis step teaching motion
• Support for robot continuous jogging teaching motion
• Support for robot multi-axis continuous teaching motion
• Support for emergency stopping robot continuous motion
• Support for setting step length and rotation step angle
• Support for jogging control in different coordinate systems

Use Cases

• Robot debugging and teaching processes
• Position fine-tuning scenarios
• Host PC remote manual pose adjustment
• Robot installation and calibration
• Precise adjustment of complex trajectories

4.13.1 Single-axis Step Teaching Motion

Method Name	jogging.step_move( aj_num : int, step_length : float = 0, step_angle : float = 0) -> StatusCodeEnum
Description	Perform single-axis step teaching motion based on the configured step size.
Request Parameters	aj_num : int Values 1–6 correspond to axes in the current coordinate system. In Cartesian coordinates, x, y, z, rx, ry, rz map to 1–6. The sign indicates motion direction. step_length : float Linear step length in mm; omitted to keep the current step size. step_angle : float Rotational step angle in degrees; omitted to keep the current rotation step.
Return Value	StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

jogging/step_move.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: 示教运动功能-步进关节点动运动使用示例 / Teaching motion function - Joint step motion usage example
"""

from Agilebot import Arm, StatusCodeEnum

# [ZH] 初始化Arm类
# [EN] Initialize the Arm class
arm = Arm()
# [ZH] 连接控制器
# [EN] Connect to the controller
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 仅支持手动模式下进行jogging
# [EN] Only manual mode is supported for jogging
# [ZH] 点动关节坐标系下的关节1
# [EN] Jog joint 1 under the joint coordinate system
ret = arm.jogging.step_move(1, 2, 2)
if ret == StatusCodeEnum.OK:
    print("点动运动开始成功 / Jogging movement started successfully")
else:
    print(f"点动运动开始失败，错误代码 / Jogging movement start failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.13.2 Single-axis Continuous Jogging Teaching Motion

Method Name	jogging.continuous_move( aj_num : int) -> StatusCodeEnum
Description	Perform single-axis continuous jogging teaching motion.
Request Parameters	aj_num : int Axis index (1~6 for current coordinate system; in Cartesian, x/y/z/rx/ry/rz map to 1~6; sign indicates direction).
Return Value	StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

jogging/continuous_move.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: 示教运动功能-单关节点动运动使用示例 / Example of Teaching motion function - Single-joint motion usage
"""

import time

from Agilebot import Arm, StatusCodeEnum

# [ZH] 初始化Arm类
# [EN] Initialize the Arm class
arm = Arm()
# [ZH] 连接控制器
# [EN] Connect to the controller
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 仅支持手动模式下进行jogging
# [EN] Only manual mode is supported for jogging
# [ZH] 点动关节坐标系下的关节1
# [EN] Jog joint 1 under the joint coordinate system
ret = arm.jogging.continuous_move(1)
if ret == StatusCodeEnum.OK:
    print("点动运动开始成功 / Jogging movement started successfully")
else:
    print(f"点动运动开始失败，错误代码 / Jogging movement start failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 运动3s
# [EN] Move for 3 seconds
time.sleep(3)

# [ZH] 停止
# [EN] Stop
arm.jogging.stop()

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.13.3 Multi-axis Continuous Teaching Motion

Method Name	jogging.multi_move( aj_num : List[int]) -> StatusCodeEnum
Description	Perform multi-axis continuous teaching motion.
Request Parameters	aj_num : List[int] Axis index list (1~6 for current coordinate system; in Cartesian, x/y/z/rx/ry/rz map to 1~6; sign indicates direction).
Return Value	StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

jogging/multi_move.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: 示教运动功能-多关节点动运动使用示例 / / Teaching motion function - Multi-joint motion usage example
"""

import time

from Agilebot import Arm, StatusCodeEnum

# [ZH] 初始化Arm类
# [EN] Initialize the Arm class
arm = Arm()
# [ZH] 连接控制器
# [EN] Connect to the controller
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 仅支持手动模式下进行jogging
# [EN] Only manual mode is supported for jogging
# [ZH] 点动关节坐标系下的关节1,2,3
# [EN] Jog joint 1,2,3 under the joint coordinate system
ret = arm.jogging.multi_move([1, 2, 3])
if ret == StatusCodeEnum.OK:
    print("点动运动开始成功 / Jogging movement started successfully")
else:
    print(f"点动运动开始失败，错误代码 / Jogging movement start failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 运动3s
# [EN] Move for 3 seconds
time.sleep(3)

# [ZH] 停止
# [EN] Stop
arm.jogging.stop()

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.13.4 Stop the Robot Continuous Move

Method Name	jogging.stop()
Description	Terminate the robot jog (JOG) motion.
Request Parameters	No parameters
Return Value	StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

---