Omron R6YXGLC250, Installation Manual, Page: 45 / 136

1-1
1
Functions
1. Robot manipulator
This chapter describes only the points that are different from the standard models.
For details about other explanations, see the Installation Manual for XG series standard models.
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