Basic Operations
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3.3 Jog-Cartesian Movement
The starting posture of the robot should meet the following 2 requirements before
Cartesian movement is executed.
The separation angle between the big arm and the small arm should be greater than 10°as
shown in figure 3-6.
The separation angle between wrist No.1 and wrist No.3 should be greater than 20°as
shown in figure 3-6.
(Left)
(Right)
Fig. 3-6 Robot Arm
Figure 3-7 shows the recommended separation angle for each joint in Cartesian
movement. Refer to section 3.2 for detailed description of joint movement.
Fig. 3-7 Starting Posture of Cartesian Movement
