2 Manipulator Coordinate Systems and Operations
2.4 Coordinate Frames and Manipulator Jogging
2-15
HW1485509
HW1485509
2.4.4 XYZ - Tool Mode
In XYZ – Tool mode, the manipulator moves parallel to the X-, Y-, and Z-
axes defined with respect to the tip of the tool.
Fig. 2-12: XYZ-Tool Mode Operation
Fig. 2-13: Programming Panel of Robot Jog Panel for XYZ – Tool Mode
The tool coordinates are defined at the tip of the tool, assuming the
effective direction of the tool mounted on the manipulator’s tool flange is
the Z-axis. Therefore, the tool coordinates axis direction moves with the
wrist.
Axis Operation in the XYZ - Tool Mode
When two or more [Jog Keys] are pressed at the same time
on the membrane key, the manipulator performs a combined
movement. However, if two different directional keys for the
same axis are pressed simultaneously (such as [X-] + [X+]),
this axis will not operate. The touch screen {Jog Keys} only
operate one button at a time.
Y-axis
Y-axis
Y-axis
Z-axis
Z-axis
Z-axis
X-axis
X-axis
X-axis
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