2-31
Confirming the operation
Fig.2-16 ： JOINT jog operation
Fig.2-17 ： XYZ jog operation
J4軸
＋
－
J2軸
＋
－
J1軸
＋
－
J3軸
＋
－
* Each axis moves independently.
J4-axis
J3-axis
J2-axis
J1-axis
＋X
－X
＋Y
－Y
－Z
＋Z
直交座標系原点
先端軸
＋
－
＋Z
－Z
C
＋X
－X
＋Y
－Y
* While maintaining the end axis posture, the axis
moves straight along the base coordinate system.
Also, while maintaining the end axis position, the
end axis posture changes.
End axis
Base coordinate system reference origin
