3.13 Other Convenient Features
3-24
3.13.3
Manipulator Movement
The operation by the axis keys is the same as that on normal tool coordinate system.
Basic axes
Axis
Name
Axis Key
Movement
Basic
axes
Moves in parallel to X, Y, and Z-axis of tool coordinates
of the selected manipulator.
Wrist
axes
With the tool center point of the selected manipulator as
a reference point, TCP fixed operation is executed.
T-
Z-
T+
Z+
B+
Y+
R+
X+
B-
Y-
R-
X-
Tool coordinates
on slave side
X+
S+
Y+
L+
Tool center point of the slave side
X-axis
Y-axis
Parallel movement
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