Mitsubishi Electric MELFA RV-7FRL-D - Page 41

2 Unpacking to Installation
Confirming the operation 2-29
Fig.2-18 ： CYLINDER jog operation
Fig.2-19 ： WORK jog operation
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
ツ
ー
ル
長
制御点
半径
上下
円弧
* The current position is set as the arc centering on the Z axis, and the axis moves along that arc, expands
and contracts in the radius direction, and moves vertically. At this time, the flange surface posture is
maintained. Also, while maintaining the flange surface position, the flange surface posture changes.
Control point
T
o
o
l
l
e
n
g
t
h
Vertical
Radius
Arc
5-axis type/6-axis type
* While maintaining the flange surface posture, the axis moves straight along the work coordinate system.
Also, while maintaining the flange surface position, the flange surface posture changes.
* Jog operation around the work coordinates system is available for the 6-axis type (EX-T jog). In this jog
operation, when the jog operation is performed for the posture elements, the posture rotates on the Xw
axis, Yw axis, or Zw axis of the work coordinates system while the control point is changed.
ツ
ー
ル
長
+Xw
+Yw
+Zw
-Zw
-Xw
-Yw
+Yw'
＋
－
＋
－
+Xw'
+Zw'
－
＋
-Yw'
-Zw'
-Xw'
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
ツ
ー
ル
長
+Xw
+Yw
+Zw
-Zw
-Xw
-Yw
＋
－
+Y
+Z
＋
－
WORK coordinate system
Control point
WORK coordinate system
Control point
T
o
o
l
l
e
n
g
t
h
6-axis type 5-axis type
T
o
o
l
l
e
n
g
t
h