YASKAWA YRC1000 - 2.4.6.1 ALL JOINTS; 2.4.6.2 TOOL JOINTS

2 Manipulator Coordinate Systems and Operations
2.4 Coordinate Frames and Manipulator Jogging
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HW1485509
HW1485509
2.4.6.1 ALL JOINTS
In this mode, all axes of the robot can be guided by hand. This mode is
most useful for large motions and recovering from faults / collisions.
Fig. 2-16: Hand Guiding with All Joints
2.4.6.2 TOOL JOINTS
In this mode, the three axes on the wrist (R, B, T) of the robot can be
moved by hand. This mode can be used to modify the tool orientation.
Fig. 2-17: Hand Guiding with Tool Joints
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