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