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Mitsubishi Electric RH-FRH Series Instruction Manual page 54

Industrial robot arm setup & maintenance
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2 Unpacking to Installation
* The current position is set as the arc centering on the Z axis, and the axis moves along that arc,
expands and contracts in the radius direction, and moves vertically. At this time, the end axis posture is
maintained. Also, while maintaining the axis posture position, the end axis posture changes.
Fig.2-26 : CYLINDER jog operation
* 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.
* 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.2-27 : WORK jog operation
Confirming the operation
2-41

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