2
22
2Unpacking to Installation
Unpacking to Installation
Unpacking to Installation
Unpacking to Installation
Confirming the operation
Confirming the operation
Confirming the operation
Confirming the operation
2-
2-
2-
2-
1
9
1
9
1
9
1
9
Fig.2-
11 ：
Orthogonal jog operation
Fig.2-
11 ：
Orthogonal jog operation
Fig.2-
11 ：
Orthogonal jog operation
Fig.2-
11 ：
Orthogonal jog operation
Fig.2-
1
2
：
Tool jog operation
Fig.2-
1
2
：
Tool jog operation
Fig.2-
1
2
：
Tool jog operation
Fig.2-
1
2
：
Tool jog operation
＋
X axis
＋
Z axis
＋
Z axis
－
－
－
－
＋
＋
＋
＋
+X
+X
+X
+X
-X
-X
-X
-X
-Y
-Y
-Y
-Y
+Y
+Y
+Y
+Y
+Z
+Z
+Z
+Z
-Z
-Z
-Z
-Z
J4
J4
J4
J4
* While maintaining the posture of
* While maintaining the posture of
* While maintaining the posture of
* While maintaining the posture of
the end axis, the robot moves
the end axis, the robot moves
the end axis, the robot moves
the end axis, the robot moves
straight along the orthogonal
straight along the orthogonal
straight along the orthogonal
straight along the orthogonal
coordinate system.
coordinate system.
coordinate system.
coordinate system.
The end axis rotates.
The end axis rotates.
The end axis rotates.
The end axis rotates.
－
－
－
－
＋
＋
＋
＋
Ｊ４
Ｊ４
Ｊ４
Ｊ４
+x
+x
+x
+x
-x
-x
-x
-x
-y
-y
-y
-y
+y
+y
+y
+y
+z
+z
+z
+z
-z
-z
-z
-z
* While maintaining the posture of
* While maintaining the posture of
* While maintaining the posture of
* While maintaining the posture of
the end axis, the robot moves
the end axis, the robot moves
the end axis, the robot moves
the end axis, the robot moves
straight along the tool coordinate
straight along the tool coordinate
straight along the tool coordinate
straight along the tool coordinate
system.
system.
system.
system.
The end axis changes directions
The end axis changes directions
The end axis changes directions
The end axis changes directions
while maintaining its position.
while maintaining its position.
while maintaining its position.
while maintaining its position.
