5 Basic Specifications
5.6 Operating Characteristics and Operating Method of the 7-Axis Arm
5-7
155492-1CD
HW0484820
SDA20
5.6.2
Operation in the Cartesian Coordinate System,
Tool Coordinate System, and User Coordinate
System
Setting the wrist position and angle of the 6-axis arm accordingly determines the arm posture.
However, the 7-axis arm can take any arm posture, allowing users to freely modify the "elbow
angle" (the arm angle) keeping its wrist at the same position and angle.
“Characteristics of the 7-Axis Arm (e.g. MOTOMAN-SIA20)”
To modify the elbow angle without changing its current wrist position and angle, select the
cartesian coordinate system, tool coordinate system, or user coordinate system, then hold the
"SHIFT" key and press the "S+" or "S-" key. (Refer to
Fig. 5-4 “Operating the 7th-axis”
)
Fig. 5-5: Characteristics of the 7-Axis Arm (e.g. MOTOMAN-SIA20)
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