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155492-1CD
SDA20
5.6
Operating Characteristics and Operating Method
of the 7-Axis Arm
The arm with 7 axes operates differently from the 6-axis arm, and requires the different
operating method.
The following sections explain how to operate the 7-axis arm based on the operation patterns
(the joint coordinate system, Cartesian coordinate system, etc.).
5.6.1
Operation in the Joint Coordinate System
Note the following point in operating the manipulator in the joint coordinate system:
• When operating the 7th-axis, hold the "SHIFT" key and press the "S+" or "S-" key.
Rotation-axis
REMOTE
TEACH
START
HOLD
PLAY
!?
X
X
X
X
S
S
R
R
Y
Y
Y
Y
L
L
B
B
Z
Z
Z
Z
U
U
T
T
7
8
9
4
5
6
1
2
3
0
.
−
M O T O M A N
M O T O M A N
Fig. 5-4: Operating the 7th-axis
5
Basic Specifications
5.6 Operating Characteristics and Operating Method of the 7-Axis Arm
L-axis
7th-axis
U-axis
S-axis
S-axis
U-axis
7th-axis
L-axis
[S+] or [S-] key
[Shift] key
5-6
R-axis B-axis T-axis
R1
R2
R-axis B-axis T-axis
LAYOUT
GO BACK
DIRECT
OPEN
COORD
Multi
AREA
PAGE
SELECT
SERVO
MAIN
SHORT
!?
CANCEL
ON
MENU
CUT
READY
ASSIST
SERVO ON
X
X
X
X
S
S
HIGH
R
R
SPEED
Y
Y
Y
Y
L
L
B
B
FAST
Z
Z
MANUAL SPEED
Z
Z
LOW
U
U
T
T
INTER
7
8
9
TEST
SHIFT
SHIFT
LOCK
START
4
5
6
INFORM
BWD
ROBOT
FWD
LIST
1
2
3
EX. AXIS
DELETE
INSERT
−
BACK
0
.
MOTION
MODIFY ENTER
SPACE
TYPE
M O T O M A N
HW0484820
[Shift] key
31 of 66
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