Mitsubishi Electric CR750-Q - Page 707

7Appendix
Ex-T control Appendix-687
When the C key is used, the operation is different in the WORK jog and the Ex-T jog modes.
The robot does not move when the A or B key is used.
• When the[+C (J6)] keys are pressed, the Z axis will rotate in the plus direction of the XYZ coordinate
system.
When the[-C (J6)] keys are pressed, rotate in the minus direction.
• When the [+C (J6)] keys are pressed, the control point will rotate in the plus direction around the Z axis
(Zw) of work coordinates system (Ex-T coordinates system).
When the[-C (J6)] keys are pressed, the control point will rotate in the minus direction.
＋X
－X
＋Y
－Y
－Z
＋Z
＋
－
+Z
-Z
+Xw
+Yw
+Zw
-Zw
-Xw
-Yw
ツ
ール
長
Changing the end axis posture
<1> Work jog mode
* The position of the control point does not change.
The end axis is rotated.
Tool length
Control point
Work coordinates system
＋X
－X
＋Y
－Y
－Z
＋Z
+Xw
+Yw
+Zw
-Zw
-Xw
-Yw
ツ
ー
ル
長
SPACE
,
<2> Ex-T jog mode
Work coordinates system
(Ex-T coordinates system)
Tool length
Control point