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Confirming the operation
When the software version is R5 (F-Q series)/S5 (F-D series) or later, the additional WORK jog operation,
Ex-T jog, is available. The conventional WORK jog operation and the Ex-T jog operation can be switched by
setting the parameters WK1JOGMD to WK8JOGMD of each work coordinates system.
The respective operations are as follows.
・ When the [+X (J1)] keys are pressed, the robot will move along the X axis (Xw) plus direction on the work
coordinates system.
When the [-X (J1)] keys are pressed, Move along the minus direction.
・ When the [+Y (J2)] keys are pressed, the robot will move along the Y axis (Yw) plus direction on the work
coordinates system.
When the [-Y (J2)] keys are pressed, Move along the minus direction.
・ When the [+Z (J3)] keys are pressed, the robot will move along the Z axis (Zw) plus direction on the work
coordinates system.
When the [-Z (J3)] keys are pressed, Move along the minus direction.
When the X, Y, or Z keys are used, the operation is the same in the WORK jog and the Ex-T jog modes.
WORK jog operation mode
Conventional WORK jog
Ex-T jog
Parameters WKnJOGMD (n is 1 to8) set-
ting
0 (initial value)
1
XYZ key operation
Moves along each axis of the work coordi-
nates system
Same as the conventional WORK jog
C key operation
With the control point position maintained,
the direction changes along the work coor-
dinates system.
While the control point position is
changed, the direction changes on the Z
axis of the work coordinates system (Zw).
AB key operation
The robot does not move.
The robot does not move.
The jog movement based on work coordinates system
＋X
－X
＋Y
－Y
－Z
＋Z
+Xw
+Yw
+Zw
-Zw
-Xw
-Yw
ツール長
Work coordinates system
Control point
Tool length
* The direction of the end axis will not
change. Move the control point with
a straight line in accordance with the
work coordinates system
