2 Unpacking to Installation
Confirming the operation
2-33
・ When the [+A (J4)] keys are pressed,
6-axis type: the X axis will rotate in the plus direction.
5-axis type: the Z axis will rotate in the plus direction of the tool coordinate system.
When the [-A (J4)] keys are pressed, rotate in the minus direction.
・ When the [+B (J5)] keys are pressed,
6-axis type: the Y axis will rotate in the plus direction.
5-axis type: the Y axis will rotate in the plus direction of the tool coordinate system.
When the [-B (J5)] keys are pressed, rotate in the minus direction.
・ When the [+C (J6)] keys are pressed,
6-axis type: the Z axis will rotate in the plus direction.
5-axis type: there is no operation.
When the [-C (J6)] keys are pressed,
6-axis type: rotate in the minus direction.
5-axis type: there is no operation.
◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇
If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not
move. In this case, please move to the counter direction.
* The control point does not change.
Changing the flange surface posture
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
ツ
ー
ル
長
＋
＋X
＋Y
＋Z
－
＋
－
－
＋
制御点
SPACE
,
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
ツ
ー
ル
長
＋
＋Y
＋Z
－
＋
－
制御点
(ツール座標系)
T
o
o
l
l
e
n
g
t
h
Control
point
T
o
o
l
l
e
n
g
t
h
Control point
(Tool coordinate
system)
6-axis type 5-axis type
◇◆◇ When alarm No. 5150 occurs ◇◆◇
If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for
the origin data.
◇◆◇ Tool length ◇◆◇
The default tool length is 0mm, and the control point is the center of the end axis.
After installing the hand, set the correct tool length in the parameters. Refer to the separate manual "Detailed
Explanation of Functions and Operations" for details.
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