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-
2-25
25
25
25
(3)
(3)
(3)
(3) Tool jog operation
Tool jog operation
Tool jog operation
Tool jog operation
Press the [MOVE] + [TOOL] keys to select the
Press the [MOVE] + [TOOL] keys to select the
Press the [MOVE] + [TOOL] keys to select the
Press the [MOVE] + [TOOL] keys to select the
tool jog mode. "TOOL" will appear at the upper
tool jog mode. "TOOL" will appear at the upper
tool jog mode. "TOOL" will appear at the upper
tool jog mode. "TOOL" will appear at the upper
left of the screen.
left of the screen.
left of the screen.
left of the screen.
Each time the [MOVE] + [+] keys are pressed, the
Each time the [MOVE] + [+] keys are pressed, the
Each time the [MOVE] + [+] keys are pressed, the
Each time the [MOVE] + [+] keys are pressed, the
override will increase in the order of LOW
→
HIGH
override will increase in the order of LOW
→
HIGH
override will increase in the order of LOW
→
HIGH
override will increase in the order of LOW
→
HIGH
→
3
→
5
→
1
0
→
30
→
50
→
70
→
1
00%. When
→
3
→
5
→
1
0
→
30
→
50
→
70
→
1
00%. When
→
3
→
5
→
1
0
→
30
→
50
→
70
→
1
00%. When
→
3
→
5
→
1
0
→
30
→
50
→
70
→
1
00%. When
the [MOVE] + [-] keys are pressed, the override
the [MOVE] + [-] keys are pressed, the override
the [MOVE] + [-] keys are pressed, the override
the [MOVE] + [-] keys are pressed, the override
will decrease in the reverse order. The currently
will decrease in the reverse order. The currently
will decrease in the reverse order. The currently
will decrease in the reverse order. The currently
set speed will appear on the upper right of the
set speed will appear on the upper right of the
set speed will appear on the upper right of the
set speed will appear on the upper right of the
screen. Set the override to
1
0% here for
screen. Set the override to
1
0% here for
screen. Set the override to
1
0% here for
screen. Set the override to
1
0% here for
confirmation work.
confirmation work.
confirmation work.
confirmation work.
* Moving along the X axis
* Moving along the X axis
* Moving along the X axis
* Moving along the X axis
When the [MOVE] + [+X (J
1
)] keys are
When the [MOVE] + [+X (J
1
)] keys are
When the [MOVE] + [+X (J
1
)] keys are
When the [MOVE] + [+X (J
1
)] keys are
pressed, the robot will move along the X axis
pressed, the robot will move along the X axis
pressed, the robot will move along the X axis
pressed, the robot will move along the X axis
plus direction of the tool coordinate system.
plus direction of the tool coordinate system.
plus direction of the tool coordinate system.
plus direction of the tool coordinate system.
When the [MOVE] + [-X (J
1
)] keys are
When the [MOVE] + [-X (J
1
)] keys are
When the [MOVE] + [-X (J
1
)] keys are
When the [MOVE] + [-X (J
1
)] keys are
pressed, the robot will move along the minus
pressed, the robot will move along the minus
pressed, the robot will move along the minus
pressed, the robot will move along the minus
direction.
direction.
direction.
direction.
* Moving along the Y axis
* Moving along the Y axis
* Moving along the Y axis
* Moving along the Y axis
When the [MOVE] + [+Y(J2)] keys are
When the [MOVE] + [+Y(J2)] keys are
When the [MOVE] + [+Y(J2)] keys are
When the [MOVE] + [+Y(J2)] keys are
pressed, the robot will move along the Y axis
pressed, the robot will move along the Y axis
pressed, the robot will move along the Y axis
pressed, the robot will move along the Y axis
plus direction of the tool coordinate system.
plus direction of the tool coordinate system.
plus direction of the tool coordinate system.
plus direction of the tool coordinate system.
When the [MOVE] + [-Y (J2)] keys are
When the [MOVE] + [-Y (J2)] keys are
When the [MOVE] + [-Y (J2)] keys are
When the [MOVE] + [-Y (J2)] keys are
pressed, the robot will move along the minus
pressed, the robot will move along the minus
pressed, the robot will move along the minus
pressed, the robot will move along the minus
direction.
direction.
direction.
direction.
* Moving along the Z axis
* Moving along the Z axis
* Moving along the Z axis
* Moving along the Z axis
When the [MOVE] + [+Z (J3)] keys are
When the [MOVE] + [+Z (J3)] keys are
When the [MOVE] + [+Z (J3)] keys are
When the [MOVE] + [+Z (J3)] keys are
pressed, the robot will move along the Z axis
pressed, the robot will move along the Z axis
pressed, the robot will move along the Z axis
pressed, the robot will move along the Z axis
plus direction of the tool coordinate system.
plus direction of the tool coordinate system.
plus direction of the tool coordinate system.
plus direction of the tool coordinate system.
When the [MOVE] + [-Z (J3)] keys are
When the [MOVE] + [-Z (J3)] keys are
When the [MOVE] + [-Z (J3)] keys are
When the [MOVE] + [-Z (J3)] keys are
pressed, the robot will move along the minus
pressed, the robot will move along the minus
pressed, the robot will move along the minus
pressed, the robot will move along the minus
direction.
direction.
direction.
direction.
TOOL LOW
TOOL LOW
TOOL LOW
TOOL LOW
X +
1
34.50
X +
1
34.50
X +
1
34.50
X +
1
34.50
Y +220.00
Y +220.00
Y +220.00
Y +220.00
Z +280.00
Z +280.00
Z +280.00
Z +280.00
Select the tool jog mode
Select the tool jog mode
Select the tool jog mode
Select the tool jog mode
TOOL LOW
TOOL LOW
TOOL LOW
TOOL LOW
X +
1
34.50
X +
1
34.50
X +
1
34.50
X +
1
34.50
Y +220.00
Y +220.00
Y +220.00
Y +220.00
Z +280.00
Z +280.00
Z +280.00
Z +280.00
Set the jog speed
Set the jog speed
Set the jog speed
Set the jog speed
+
+
+
+
Tool jog mode
Tool jog mode
Tool jog mode
Tool jog mode
STEP
STEP
STEP
STEP
MOVE
MOVE
MOVE
MOVE
TOOL
TOOL
TOOL
TOOL
=*/
=*/
=*/
=*/
Set the speed
Set the speed
Set the speed
Set the speed
+
+
+
+
STEP
STEP
STEP
STEP
MOVE
MOVE
MOVE
MOVE
+
+
+
+
FORWD
FORWD
FORWD
FORWD
-
-
-
-
BACKWD
BACKWD
BACKWD
BACKWD
-
-
-
-
+
+
+
+
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
Moving along the tool coordinate system
Moving along the tool coordinate system
Moving along the tool coordinate system
Moving along the tool coordinate system
*
The direction of the
*
The direction of the
*
The direction of the
*
The direction of the
frange will not move.
frange will not move.
frange will not move.
frange will not move.
+X
+X
+X
+X
(J
1
)
(J
1
)
(J
1
)
(J
1
)
’; ^
’; ^
’; ^
’; ^
+
+
+
+
STEP
STEP
STEP
STEP
MOVE
MOVE
MOVE
MOVE
+Y
+Y
+Y
+Y
(J2)
(J2)
(J2)
(J2)
9
9
9
9
&<>
&<>
&<>
&<>
+
+
+
+
STEP
STEP
STEP
STEP
MOVE
MOVE
MOVE
MOVE
+
+
+
+
STEP
STEP
STEP
STEP
MOVE
MOVE
MOVE
MOVE
-Z
-Z
-Z
-Z
(J3)
(J3)
(J3)
(J3)
3
33
3
JKL
JKL
JKL
JKL
+
+
+
+
STEP
STEP
STEP
STEP
MOVE
MOVE
MOVE
MOVE
+Z
+Z
+Z
+Z
(J3)
(J3)
(J3)
(J3)
8
88
8
,@
\
,@
\
,@
\
,@
\
+
+
+
+
STEP
STEP
STEP
STEP
MOVE
MOVE
MOVE
MOVE
-Y
-Y
-Y
-Y
(J2)
(J2)
(J2)
(J2)
4
4
4
4
MNO
MNO
MNO
MNO
+
+
+
+
STEP
STEP
STEP
STEP
MOVE
MOVE
MOVE
MOVE
-X
-X
-X
-X
(J
1
)
(J
1
)
(J
1
)
(J
1
)
SPACE
SPACE
SPACE
SPACE
PQR
PQR
PQR
PQR
◇◆◇
When the robot is in the transportation posture
◇◆◇
◇◆◇
When the robot is in the transportation posture
◇◆◇
◇◆◇
When the robot is in the transportation posture
◇◆◇
◇◆◇
When the robot is in the transportation posture
◇◆◇
There are directions from which linear movement is not possible from the transportation posture. In this case, an
There are directions from which linear movement is not possible from the transportation posture. In this case, an
There are directions from which linear movement is not possible from the transportation posture. In this case, an
There are directions from which linear movement is not possible from the transportation posture. In this case, an
X will appear on the T/B screen, and the robot will not move. Refer to page 2
X will appear on the T/B screen, and the robot will not move. Refer to page 2
X will appear on the T/B screen, and the robot will not move. Refer to page 2
X will appear on the T/B screen, and the robot will not move. Refer to page 2
move the robot to a position where linear movement is possible, and then carry out orthogonal jog.
move the robot to a position where linear movement is possible, and then carry out orthogonal jog.
move the robot to a position where linear movement is possible, and then carry out orthogonal jog.
move the robot to a position where linear movement is possible, and then carry out orthogonal jog.
X
X
X
X