2-28
Confirming the operation
2 Unpacking to Installation
Fig.2-16 ： TOOL jog operation
Fig.2-17 ： 3-axis XYZ jog operation
－
＋
－
＋
－
＋
＋X
＋Z
制御点
ツ
ー
ル
長
－Z
－X
－Y
＋Y
* While maintaining the flange surface posture, the axis moves straight along the tool coordinate system.
Also, while maintaining the flange surface position, the flange surface posture changes.
For the 5-axis type robot, the axis moves only in the X and Z axis directions of tool coordinate system.
Control point
T
o
o
l
l
e
ng
t
h
5-axis type/6-axis type
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
J4軸
＋
－
J5軸
J6軸
＋
－
－
＋
ツ
ー
ル
長
制御点
Control point
T
o
o
l
l
e
n
g
th
* The axis moves straight along the base coordinate system. At this time, the flange surface posture is
not maintained. Also, the flange surface posture changes. The flange surface position does not
change at this time. It is effective to change the posture of the wrist, with the position maintained.
The 5-axis type robot has no J4 axis.
J6 axis
J5 axis
J4 axis
5-axis type/6-axis type
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