Epson TP1 - Manual (Page 42)

Operation 2. TEACH Mode
32 TP1 Rev.5
2.1 [Jog & Teach]
This section indicates settings in the [Jog&Teach] screen.
(1) Switch the mode selector key switch to “Teach” to display the following screen.
(2) Set the data items currently displayed in the [Jog&Teach] screen.
(See 2.1.1 to 2.1.6.)
(3) Note down the robot position. (See 2.1.9.)
(4) Back up the point data to a file. (See 2.1.10.)
2.1.1 Specifying Point No.
Change the value at [Point] using the < ↑> and <↓> keys to specify a point No.
Changing the point No. changes the indication at [Label].
2.1.2 Specifying Jog Mode
Press the <Jog Mode> key and specify the [Jog Mode]. (World, Tool, Joint, ECP)
The default setting is “World”.
World : Jogs the robot along the X, Y, Z axes in the current local, tool, arm, and ECP.
For robots with 4 DOF, you can also jog U (roll).
For robots with 6 DOF, you can jog U (roll), V (pitch), and W (yaw). This is
the default setting.
Tool : Jogs the robot in the coordinate system defined by the current tool.
Joint : Jogs each joint of the robot.
A separate set of jog buttons will appear when using joint mode when using
non-Cartesian robots.
ECP : Jogs the robot along the axes of the coordinate system defined by the current
external control point. Coordinates are World coordinates.