Mitsubishi Electric CR750-Q Instruction Manual page 707

When the C key is used, the operation is different in the WORK jog and the Ex-T jog modes.
The robot does not move when the A or B key is used.
Changing the end axis posture
<1> Work jog mode
+Xw
Work coordinates system
• When the[+C (J6)] keys are pressed, the Z axis will rotate in the plus direction of the XYZ coordinate
system.
When the[-C (J6)] keys are pressed, rotate in the minus direction.
<2> Ex-T jog mode
+Xw
Work coordinates system
(Ex-T coordinates system)
• When the [+C (J6)] keys are pressed, the control point will rotate in the plus direction around the Z axis
(Zw) of work coordinates system (Ex-T coordinates system).
When the[-C (J6)] keys are pressed, the control point will rotate in the minus direction.
+Zw
-Yw
-Xw
－
-Zw
+Yw
SPACE
,
+Zw
-Yw
Control point
-Xw
-Zw
+Yw
+Z
Tool length
Control point －Y
＋
＋X
-Z
* The position of the control point does not change.
The end axis is rotated.
＋Z
Tool length
－Y
＋X
－Z
＋Z
－X
＋Y
－Z
－X
＋Y
Ex-T control Appendix-687
7Appendix