4.12 Robot Jogging Motion

Overview

The Jogging class provides jog-control APIs in manual teaching mode, including single-axis stepping, single-axis continuous jog, multi-axis continuous jog, and stop operations.

Core Features

Single-axis step jogging
Single-axis continuous jogging
Multi-axis continuous jogging
Stop continuous jogging
Direction control with positive/negative axis signs
Configurable linear step length and rotational step angle

Use Cases

Robot debugging and teaching process
Fine position and posture adjustment
Host-side remote manual pose adjustment
Robot installation and calibration
Position confirmation before executing complex trajectories

4.12.1 Single-Axis Step Jogging

Method Name	Jogging.Move(int `ajNum` , MoveMode `moveMode` , double `stepLength` = 0, double `stepAngle` = 0)
Description	Executes single-axis step jogging ( `moveMode` = `MoveMode.Stepping` ).
Request Parameters	`ajNum` : int Axis index (1~6 maps to current coordinate-system axes; in Cartesian mode x/y/z/rx/ry/rz map to 1~6; sign indicates direction). `moveMode` : Move mode, fixed to `MoveMode.Stepping` for this scenario. `stepLength` : double Linear step length in mm (effective in stepping mode). `stepAngle` : double Rotational step angle in ° (effective in stepping mode).
Return Value	StatusCode: Jog operation result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Jogging/StepJogging.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class StepJogging
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 获取机器人模式
            // [EN] Get robot mode
            (UserOpMode opMode, StatusCode opCode) = controller.GetOpMode();
            if (opCode == StatusCode.OK)
            {
                Console.WriteLine($"当前机器人模式/Current robot mode: {opMode}");
                if (opMode != UserOpMode.UNLIMITED_MANUAL && opMode != UserOpMode.LIMIT_MANUAL)
                {
                    Console.WriteLine($"示教运动必须在机器人手动模式下/Jogging must be in manual mode");
                    return StatusCode.OtherReason;
                }
            }
            else
            {
                Console.WriteLine($"获取机器人模式失败/Failed to get robot mode: {opCode.GetDescription()}");
            }

            // [ZH] 设置单步示教运动参数
            // [EN] Set step jogging parameters
            int ajNum = 1; // 轴序号，正数表示正方向运动
            MoveMode moveMode = MoveMode.Stepping; // 单步运动模式
            double stepLength = 5.0; // 步长，单位为mm或角度
            double stepAngle = 5.0; // 轴旋转角度，单位为角度

            Console.WriteLine("开始单步示教运动/Starting Step Jogging");
            Console.WriteLine($"轴序号/Axis Number: {ajNum}");
            Console.WriteLine($"运动模式/Move Mode: {moveMode}");
            Console.WriteLine($"步长/Step Length: {stepLength}");

            // [ZH] 执行单步示教运动
            // [EN] Execute step jogging movement
            code = controller.Jogging.Move(ajNum, moveMode, stepLength, stepAngle);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("单步示教运动执行成功/Step Jogging Executed Successfully");
                Console.WriteLine(
                    $"轴{ajNum}向正方向移动{stepLength}单位/Axis {ajNum} moved {stepLength} units in positive direction"
                );
            }
            else
            {
                Console.WriteLine($"单步示教运动执行失败/Step Jogging Execution Failed: {code.GetDescription()}");
            }

            // [ZH] 等待一秒后执行反向运动
            // [EN] Wait one second then execute reverse movement
            Thread.Sleep(1000);

            // [ZH] 执行反向单步运动
            // [EN] Execute reverse step movement
            int reverseAjNum = -ajNum; // 负数表示负方向运动
            code = controller.Jogging.Move(reverseAjNum, moveMode, stepLength, stepAngle);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("反向单步示教运动执行成功/Reverse Step Jogging Executed Successfully");
                Console.WriteLine(
                    $"轴{Math.Abs(reverseAjNum)}向负方向移动{stepLength}单位/Axis {Math.Abs(reverseAjNum)} moved {stepLength} units in negative direction"
                );
            }
            else
            {
                Console.WriteLine(
                    $"反向单步示教运动执行失败/Reverse Step Jogging Execution Failed: {code.GetDescription()}"
                );
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.12.2 Single-Axis Continuous Jogging

Method Name	Jogging.Move(int `ajNum` , MoveMode `moveMode` , double `stepLength` = 0, double `stepAngle` = 0)
Description	Executes single-axis continuous jogging ( `moveMode` = `MoveMode.Continuous` ).
Request Parameters	`ajNum` : int Axis index (1~6 maps to current coordinate-system axes; in Cartesian mode x/y/z/rx/ry/rz map to 1~6; sign indicates direction). `moveMode` : Move mode, fixed to `MoveMode.Continuous` for this scenario. `stepLength` : double Step parameter (typically unused in continuous mode). `stepAngle` : double Step-angle parameter (typically unused in continuous mode).
Return Value	StatusCode: Jog operation result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Jogging/ContinuousJogging.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class ContinuousJogging
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 获取机器人模式
            // [EN] Get robot mode
            (UserOpMode opMode, StatusCode opCode) = controller.GetOpMode();
            if (opCode == StatusCode.OK)
            {
                Console.WriteLine($"当前机器人模式/Current robot mode: {opMode}");
                if (opMode != UserOpMode.UNLIMITED_MANUAL && opMode != UserOpMode.LIMIT_MANUAL)
                {
                    Console.WriteLine($"示教运动必须在机器人手动模式下/Jogging must be in manual mode");
                    return StatusCode.OtherReason;
                }
            }
            else
            {
                Console.WriteLine($"获取机器人模式失败/Failed to get robot mode: {opCode.GetDescription()}");
            }

            // [ZH] 设置示教运动参数
            // [EN] Set jogging parameters
            int ajNum = 3; // 轴序号，正数表示正方向运动
            MoveMode moveMode = MoveMode.Continuous; // 连续运动模式

            Console.WriteLine("开始连续示教运动/Starting Continuous Jogging");
            Console.WriteLine($"轴序号/Axis Number: {ajNum}");
            Console.WriteLine($"运动模式/Move Mode: {moveMode}");

            // [ZH] 启动连续示教运动
            // [EN] Start continuous jogging movement
            code = controller.Jogging.Move(ajNum, moveMode);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("连续示教运动启动成功/Continuous Jogging Started Successfully");
                Console.WriteLine("运动3秒后自动停止/Moving for 3 seconds then auto stop");

                // [ZH] 运动3秒
                // [EN] Move for 3 seconds
                Thread.Sleep(3000);

                // [ZH] 停止示教运动
                // [EN] Stop jogging movement
                controller.Jogging.Stop();
                Console.WriteLine("示教运动已停止/Jogging Movement Stopped");
            }
            else
            {
                Console.WriteLine($"连续示教运动启动失败/Continuous Jogging Start Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.12.3 Multi-Axis Continuous Jogging

Method Name	Jogging.MultiMove(int[] `ajNums` )
Description	Executes simultaneous continuous jogging on multiple axes.
Request Parameters	`ajNums` : int[] Axis list (1~6 maps to current coordinate-system axes; in Cartesian mode x/y/z/rx/ry/rz map to 1~6; sign indicates each axis direction).
Return Value	StatusCode: Jog operation result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Jogging/MultiJogging.cs

using Agilebot.IR;
using Agilebot.IR.Jogging;
using Agilebot.IR.Types;

public class MultiJogging
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 获取机器人模式
            // [EN] Get robot mode
            (UserOpMode opMode, StatusCode opCode) = controller.GetOpMode();
            if (opCode == StatusCode.OK)
            {
                Console.WriteLine($"当前机器人模式/Current robot mode: {opMode}");
                if (opMode != UserOpMode.UNLIMITED_MANUAL && opMode != UserOpMode.LIMIT_MANUAL)
                {
                    Console.WriteLine($"示教运动必须在机器人手动模式下/Jogging must be in manual mode");
                    return StatusCode.OtherReason;
                }
            }
            else
            {
                Console.WriteLine($"获取机器人模式失败/Failed to get robot mode: {opCode.GetDescription()}");
            }

            Console.WriteLine("开始多轴示教运动/Starting Multi-axis Jogging");
            Console.WriteLine("演示多轴运动/Demo multi-axis step movements");

            // [ZH] 多轴运动
            // [EN] Multi-axis step movement
            Console.WriteLine("\n=== 多轴运动/Multi-axis Step Movement ===");
            int[] axes = { 1, 2, 3 }; // 正方向运动

            code = controller.Jogging.MultiMove(axes);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("连续示教运动启动成功/Continuous Jogging Started Successfully");
                Console.WriteLine("运动3秒后自动停止/Moving for 3 seconds then auto stop");

                // [ZH] 运动3秒
                // [EN] Move for 3 seconds
                Thread.Sleep(3000);

                // [ZH] 停止示教运动
                // [EN] Stop jogging movement
                controller.Jogging.Stop();
                Console.WriteLine("示教运动已停止/Jogging Movement Stopped");
            }
            else
            {
                Console.WriteLine($"连续示教运动启动失败/Continuous Jogging Start Failed: {code.GetDescription()}");
            }

            Console.WriteLine("\n多轴示教运动完成/Multi-axis Jogging Completed");
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.12.4 Stop Continuous Jogging

Method Name	Jogging.Stop()
Description	Stops the current continuous jog movement.
Request Parameters	None
Return Value	void
Note	This method is required only in continuous jogging mode.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Jogging/ContinuousJogging.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class ContinuousJogging
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 获取机器人模式
            // [EN] Get robot mode
            (UserOpMode opMode, StatusCode opCode) = controller.GetOpMode();
            if (opCode == StatusCode.OK)
            {
                Console.WriteLine($"当前机器人模式/Current robot mode: {opMode}");
                if (opMode != UserOpMode.UNLIMITED_MANUAL && opMode != UserOpMode.LIMIT_MANUAL)
                {
                    Console.WriteLine($"示教运动必须在机器人手动模式下/Jogging must be in manual mode");
                    return StatusCode.OtherReason;
                }
            }
            else
            {
                Console.WriteLine($"获取机器人模式失败/Failed to get robot mode: {opCode.GetDescription()}");
            }

            // [ZH] 设置示教运动参数
            // [EN] Set jogging parameters
            int ajNum = 3; // 轴序号，正数表示正方向运动
            MoveMode moveMode = MoveMode.Continuous; // 连续运动模式

            Console.WriteLine("开始连续示教运动/Starting Continuous Jogging");
            Console.WriteLine($"轴序号/Axis Number: {ajNum}");
            Console.WriteLine($"运动模式/Move Mode: {moveMode}");

            // [ZH] 启动连续示教运动
            // [EN] Start continuous jogging movement
            code = controller.Jogging.Move(ajNum, moveMode);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("连续示教运动启动成功/Continuous Jogging Started Successfully");
                Console.WriteLine("运动3秒后自动停止/Moving for 3 seconds then auto stop");

                // [ZH] 运动3秒
                // [EN] Move for 3 seconds
                Thread.Sleep(3000);

                // [ZH] 停止示教运动
                // [EN] Stop jogging movement
                controller.Jogging.Stop();
                Console.WriteLine("示教运动已停止/Jogging Movement Stopped");
            }
            else
            {
                Console.WriteLine($"连续示教运动启动失败/Continuous Jogging Start Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.12 Robot Jogging Motion ​

Overview ​

Core Features ​

Use Cases ​

4.12.1 Single-Axis Step Jogging ​

4.12.2 Single-Axis Continuous Jogging ​

4.12.3 Multi-Axis Continuous Jogging ​

4.12.4 Stop Continuous Jogging ​

4.12 Robot Jogging Motion

Overview

Core Features

Use Cases

4.12.1 Single-Axis Step Jogging

4.12.2 Single-Axis Continuous Jogging

4.12.3 Multi-Axis Continuous Jogging

4.12.4 Stop Continuous Jogging