Work Jog Operation Of The Rh 4-Axis Type - Mitsubishi Electric CR750-Q Instruction Manual

7Appendix

(5) WORK jog operation of the RH 4-axis type

When the XYZ keys are used, the operation is the same in the WORK jog and the Ex-T jog modes.
The jog movement based on work coordinates system
+Xw
• When the[+X (J1)] keys are pressed, the robot will move along the X axis (Xw) plus direction on the work
coordinates system.
When the[-X (J1)] keys are pressed, Move along the minus direction.
• When the[+Y (J2)] keys are pressed, the robot will move along the Y axis (Yw) plus direction on the work
coordinates system.
When the[-Y (J2)] keys are pressed, Move along the minus direction.
• When the[+Z (J3)] keys are pressed, the robot will move along the Z axis (Zw) plus direction on the work
coordinates system.
When the[-Z (J3)] keys are pressed, Move along the minus direction.
Appendix-686 Ex-T control
+Zw
-Yw
-Xw
-Zw
+Yw
Work coordinates system
Tool length
－Y
＋X
Control point
* The direction of the end axis will not change. Move the
control point with a straight line in accordance with the
work coordinates system
＋Z
－X
＋Y
－Z