6-4
168283-1CD
168283-1CD
Hardware Installation &
Software Upgrade
6 Test of Program Operation
6.1 Movement of the Axes
Fig. 6-4: 7-Axis Manipulator
Z+
X+
Y+
A
2+
A
2-
A
5+
A
5-
A
3+
A
3-
A
1+
A
1-
A
4+
A
4-
A
0+
A
0-
A
6-
A
6+
Reference coordinates
of base/robot axes
T-axis
B-axis
R-axis
U-axis
E-axis
L-axis
S-axis
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