2-36
Confirming the operation
<2> Ex-T jog mode
* The control point rotates around each axes of work coordinates system (Ex-T coordinates system).
When the [+A (J4)] or the [-A (J4)] key is pressed, the control point rotates around the Xw axis. When the
[+B (J5)] or the [-B (J5)] key is pressed, the control point rotates around the Yw axis. When the [+C (J6)] or
the [-C (J6)] key is pressed, the control point rotates around the Zw axis.
• When the [+A (J4)] keys is pressed, the control point will rotate in the plus direction around the X axis
(Xw) of work coordinates system (Ex-T coordinates system).
When the [-A (J4)] keys is pressed, the control point will rotate in the minus direction.
• When the [+B (J5)] keys is pressed, the control point will rotate in the plus direction around the Y axis
(Yw) of work coordinates system. (Ex-T coordinates system).
When the [-B (J5)] keys is pressed, the control point will rotate in the minus direction.
• When the [+C (J6)] keys is 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 is pressed, the control point will rotate in the minus direction.
+
-
,
+
-
+Xw
+Yw
-Zw
+Zw
-Xw
-Yw
+
-
+
-
+
-
+Xw
+Yw
-Zw
+Zw
-Xw
-Yw
+
-
+
-
+
-
+Xw
+Yw
-Zw
+Zw
-Xw
-Yw
+
-
-
X
+
Y
+
Z
-
Z
X
Y
+
-
-
X
+
Y
+
Z
-
Z
X
Y
+
-
-
X
+
Y
+
Z
-
Z
X
Y
+
-
Work coordinates system
(Ex-T coordinates system)
Control point
Work coordinates system
(Ex-T coordinates system)
Control point
Work coordinates system
(Ex-T coordinates system)
Control point
When the robot is in the transportation posture
There are directions from which linear movement is not possible from the transportation posture. In this
case, the robot will not move. Refer to section
Page 20, "(1) JOINT jog operation"
", and move the robot to a
position where linear movement is possible, and then carry out XYZ jog.
If the buzzer of T/B sounds and the robot does not move
If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not
move. In this case, please move to the counter direction.
