2
22
2-
--
-20
20
20
20
Confirming the operation
Confirming the operation
Confirming the operation
Confirming the operation
2
22
2Unpacking to Installation
Unpacking to Installation
Unpacking to Installation
Unpacking to Installation
Fig.2-
1
3
:
3-axis orthogonal jog operation
Fig.2-
1
3
:
3-axis orthogonal jog operation
Fig.2-
1
3
:
3-axis orthogonal jog operation
Fig.2-
1
3
:
3-axis orthogonal jog operation
Fig.2-
1
4
:
Cylindrical jog operation
Fig.2-
1
4
:
Cylindrical jog operation
Fig.2-
1
4
:
Cylindrical jog operation
Fig.2-
1
4
:
Cylindrical jog operation
+X
axis
+Y
axis
+Z
axis
-
-
-
-
+
+
+
+
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
* The robot moves straight along the
* The robot moves straight along the
* The robot moves straight along the
* The robot moves straight along the
orthogonal coordinate system. The
orthogonal coordinate system. The
orthogonal coordinate system. The
orthogonal coordinate system. The
direction of the end axis is not
direction of the end axis is not
direction of the end axis is not
direction of the end axis is not
maintained during this type.
maintained during this type.
maintained during this type.
maintained during this type.
The direction of the end axis
The direction of the end axis
The direction of the end axis
The direction of the end axis
changes. At this time, the end axis
changes. At this time, the end axis
changes. At this time, the end axis
changes. At this time, the end axis
position will change.
position will change.
position will change.
position will change.
+X
axis
+Y
axis
+Z
axis
-
-
-
-
+
+
+
+
J4
J4
J4
J4
Arc
Arc
Arc
Arc
Radius
Radius
Radius
Radius
Vertical
Vertical
Vertical
Vertical
* With an arc using the end axis
* With an arc using the end axis
* With an arc using the end axis
* With an arc using the end axis
position as the center of the Z
position as the center of the Z
position as the center of the Z
position as the center of the Z
axis, the robot moves over the
axis, the robot moves over the
axis, the robot moves over the
axis, the robot moves over the
arc, expands and contracts in the
arc, expands and contracts in the
arc, expands and contracts in the
arc, expands and contracts in the
radial direction, and moves
radial direction, and moves
radial direction, and moves
radial direction, and moves
vertically. At this time, the
vertically. At this time, the
vertically. At this time, the
vertically. At this time, the
posture of the end axis is
posture of the end axis is
posture of the end axis is
posture of the end axis is
maintained. The direction is
maintained. The direction is
maintained. The direction is
maintained. The direction is
changed while maintaining the end
changed while maintaining the end
changed while maintaining the end
changed while maintaining the end
axis position.
axis position.
axis position.
axis position.