Omron R6YXG500, Installation Manual

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1
Functions
1. Robot manipulator
1.1 Manipulator movement
The XG series robots are available in 4-axis models having an X/Y-axis arm (equivalent to human arm) and a Z/R-axis
(equivalent to human wrist). With these 4 axes, the XG series robots can move as shown in the Fig. below. by attaching
different types of end effector (gripper) to the end of the arm, a wide range of tasks can be performed with high
precision at high speeds. The (+) and (-) signs show the direction of axis movement when the jog keys on the
programming box are pressed (standard setting at the factory).
Manipulator movement
Y-axis
(+)
X-axis arm
(-)
(+)
X-axis
(-)
Y-axis arm
Z-axis
(-)
(-)
(+)
(+)
R-axis