Mitsubishi Electric MELFA RV-7FRL-D - Page 39

2 Unpacking to Installation
Confirming the operation 2-27
Fig.2-14 ： JOINT jog operation
Fig.2-15 ： XYZ jog operation
J5軸
J6軸
J3軸
J4軸
＋
－
＋
－
＋
－
J2軸
－
＋
－
＋
＋
－
J1軸
J1 axis
J2 axis
J3 axis
J4 axis
J5 axis
J6 axis
* Each axis moves independently. The 5-axis type robot has no J4 axis.
5-axis type/6-axis type
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
ツ
ー
ル
長
＋
＋X
＋Y
＋Z
－
＋
－
－
＋
制御点
* While maintaining the flange surface posture, the axis moves straight along the base coordinate system.
The 6-axis type robot maintains the flange surface posture.
Also, while maintaining the flange surface position, the flange surface posture changes.
Control point
T
o
o
l
l
e
n
g
t
h
5-axis type/6-axis type