© Stäubli 2009 – D28070504A CS8C134 / 248
6.7.2. MOVEMENT IN JOINT MODE (JOINT)
After the arm has been powered up, press the Joint button (1) on the MCP. The corresponding indicator light
comes on.
The keys (3) enable you to carry out movements in joint (Joint) mode for the various axis (1, 2, 3, etc.). These
movements are carried out in the positive direction (set of keys with the "+" sign) or the negative direction (set of
keys with the "-" sign). It is possible to move several axis at once. Only the indicator light for the last joint key
pressed (+ or -) and the minijog indicator light then come on.
If one of the SEL keys on the minijog (4) is pressed, the joint number selected changes and the
corresponding indicator light comes on in the set of keys (3).
If one of the "+/-" keys on the minijog is pressed, the joint selected moves.
Note:
When the Joint mode has been selected, only the yellow indications are to be taken into account
in the set of movement keys (2 - 3 - 4). The black indications (X, Y, Z) are reserved for the other
movement modes.
Figure 6.10
4
3
2
1
Direction of rotation
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