2Unpacking to Installation
Confirming the operation
2-17
2.4 Confirming the operation
In this section, the robot will be moved manually using the T/B to confirm that the operation is correct.
Moving the robot manually is called "jog operation". This operation includes the JOINT jog that moves each axis,
the XYZ jog that moves along the base coordinate system, the TOOL jog that moves along the tool coordinate
system, and the CYLNDER jog that moves along the circular arc.
This operation is carried out while pressing the deadman switch on the back of the T/B.
The robot will move during this operation. Make sure that there are no operators
near the robot, and that there are no obstacles, such as tools, in the robot operation
range.
To immediately stop the robot, release the deadman switch on the back of the T/B.
The servo power will turn OFF, and the robot will stop.
The robot will also stop if the [EMG.STOP] switch (emergency stop switch) on the
front of the T/B or the [EMG.STOP] switch (emergency stop) on the front of the
controller is pressed.
Confirm that the origin has been set. If the origin has not been set, "****" will
appear at the current position display on the teaching pendant, the JOINT jog oper
-
ation will take place in any jog mode selected.
Refer to "2.3 Setting the origin" on page 11 for details on setting the origin.
Fig.2-10 ： JOINT jog operation
CAUTION
CAUTION
CAUTION
6-axis type5-axis type
－
＋
J2 axis
－
＋
J3 axis
－
＋
－
＋
J6 axis
J5 axis
－
＋
J2 axis
－
＋
J3 axis
－
＋
－
＋
J6 axis
J5 axis
－
J1 axis
－
J1 axis
＋
－
J4 axis
* Each axis moves independently.
The 5-axis type does not have the J4 axis.
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