Mitsubishi Electric RH-3FH Series Instruction Manual page 53

+Xw
-Zw
WORK coordinate system
* While maintaining the end axis posture, the axis moves straight along the work coordinate system.
Also, while maintaining the end axis position, the end axis posture changes.
* When the controller software version is R5 (F-Q series)/S5 (F-D series) or later, jog operation
around the work coordinates system is available (EX-T jog). In this jog operation, when the jog
operation is performed for the posture elements, the posture rotates on the Xw axis, Yw axis, or Zw
axis of the work coordinates system while the control point is changed.
Fig.2-26 ： WORK jog operation
+Z
+Zw
-Yw
Tool length
-Xw
－ ＋
-Z
+Yw
＋Z
－Y
＋X
－Z
Control
point
2 Unpacking to Installation
－X
＋Y
Confirming the operation 2-40