# Incremential jog

**URL:** <https://tech-community.robotics.abb.com/t/incremential-jog/6201>\
**Category:** Robot Controller\
**Created:** [June 26, 2014, 3:42pm UTC](https://tech-community.robotics.abb.com/t/incremential-jog/6201 "2014-06-26T15:42:18Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![EliteRobotique](https://avatars.discourse-cdn.com/v4/letter/e/e99b99/32.png) [@EliteRobotique](https://tech-community.robotics.abb.com/u/EliteRobotique)\
**Post date:** [June 26, 2014, 3:42pm UTC](https://tech-community.robotics.abb.com/t/incremential-jog/6201/1 "2014-06-26T15:42:18Z")

</div>

Hi !

I need to job the robot to make most of time only one or two step of 0.5mm or 0.25mm. I’m using waterjet cutting and most of time I did’nt have part for visual support so it is  
very difficult to make sur that I had just move from 1 step.

There is any option to make the robot move only one step at once whatever how you move the joystick ? or any step counter or something that can help me ?

My robot is an 4600 with all lastest software. Thanks !

---

<div class="post-metadata">

**Author:** ![SecretHanae](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/secrethanae/32/2732_2.png) [@SecretHanae](https://tech-community.robotics.abb.com/u/SecretHanae)\
**Post date:** [July 31, 2014, 1:04pm UTC](https://tech-community.robotics.abb.com/t/incremential-jog/6201/2 "2014-07-31T13:04:14Z")

</div>

Hi,

I don’t know about any option to do that with the joystick (I’m still a newbie in using ABB robots). But I think that you could try to make a procedure with one loop, which shifts the position of the end-effector in one axis. That means the end-effector will maintain its orientation. (I did it in RobotStudio and visually it looked quite well, but I don’t know how it actually would work in practise). The code would look something like this:

MODULE module\_name

VAR p1 … !definitione of the point

PROC procedure\_name

FOR i FROM 1 TO 2 DO !repeat

p1.trans.x:=p1.trans.x+0.5; !point shift in positive x direction by 0.5

MOVEL p1 … !move to the shifted point

!if need be input other instructions 😃

ENDFOR

ENDPROC

ENDMODULE

You could execute it by one shift at a time using the step button on the FlexPendant or just execute it normally only changing the value of maximal i variable to adjust how many shifts of the points you want to make.

I’ll also add part of the code of what I made with the welding robot, because it may look somewhat similar to the waterjet instructions.

!shift the points from the edge of the workpiece

p93.trans.z:=p93.trans.z+80; !approach point  
p94.trans.z:=p94.trans.z+80; !weld starting point  
p95.trans.z:=p94.trans.z+20; !weld end point (20 mm from the starting point)  
p96.trans.z:=p95.trans.z-20; !departure point

FOR i FROM 1 TO 3 DO

!do the weld  
MoveJ p93,v1000,z10,tWeldGun\WObj:=Workobject\_1;  
ArcLStart p94,v1000,sm1,wd1,fine,tWeldGun\WObj:=Workobject\_1\SeamName:=“Part\_1\_Pth\_7\_Weld\_1”;  
ArcLEnd p95,v100,sm1,wd1,fine,tWeldGun\WObj:=Workobject\_1;  
MoveL p96,v1000,z10,tWeldGun\WObj:=Workobject\_1;

!shift all the points for another weld  
p93.trans.z:=p93.trans.z+80; !approach point  
p94.trans.z:=p94.trans.z+80; !weld starting point (60 mm from the earlier weld end point -\>20 mm of weld+60 mm of space)  
p95.trans.z:=p94.trans.z+20; !weld end point (20 mm from the starting point)  
p96.trans.z:=p95.trans.z-20; !departure point

ENDFOR