2 Manipulator Coordinate Systems and Operations
2.4 Coordinate Frames and Manipulator Jogging
2-17
HW1485509
HW1485509
2.4.5 XYZ - User Frame Mode
In XYZ – User Frame mode, the manipulator moves parallel to each axis
of the user-defined coordinates. A user-specified coordinate frame is
typically attached to an object such as a work surface, pallet, or conveyor.
The user defines the X, Y, and Z axes with the desired slopes and
positions available within the manipulator’s motion range. Up to 63 user
frames, each of which is registered with a unique number, can be
configured.
Fig. 2-14: Programming Panel of Robot Jog Panel for XYZ – User Frame
Mode
2.4.5.1 Selecting User Frame
1. Select {XYZ – User} for Jogging Mode
2. Select the desired User Frame number.
Axis Operation in the User Frame 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}
operate only one button at a time.
To enable the user frame function, the User Frame must be
configured before selecting User Frame mode. For further
detail, refer to chapter 6.3 “User Frames”.
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