2-1
CHAPTER 2 Functions
1 Robot Manipulator
The X series robots are available in 4-axis models having an X/Y-axis arm
(equivalent to human arm) and a Z/R-axis (equivalent to human wrist).
With these 4 axes, the X series robots can move as shown in Fig. 2-1. By at-
taching different types of end effector (gripper) to the end of the arm, a wide
range of tasks can be performed with high precision at high speeds.
The (+) and (-) signs show the direction of axis movement when the jog keys
on the programming box are pressed (standard setting at the factory). Fig. 2-2
and Fig. 2-3 on the next pages show part names and functions of each robot
model.
X-axis arm
Y-axis
(+)
(–)
(–)
X-axis
(+)
Y-axis arm
(–)
Z-axis
(+)
R-axis
(–)
(+)
Fig. 2-1 Manipulator movement
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