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
Work coordinates system
+Xw
• 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 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.
+X
+Zw
-Yw
-Xw
-
-Zw
+Yw
+X
SPACE
,
+Zw
-Yw
-Xw
-Zw
+Yw
+Z
-Y
+Z
-Z
Tool length
ツール長
Control point
+
* The position of the control point does
-Z
+Z
-Y
+Z
-Z
Tool length
ツール長
Control point
+Y
-X
not change. The end axis is rotated.
+Y
-X
Ex-T control Appendix-689
7Appendix