Mitsubishi Electric melfa RV-5AS Instruction Manual page 25

Tool length
Radius
* 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 flange surface
posture is maintained. Also, while maintaining the flange surface position, the flange surface posture
changes.
Fig. 2-12: CYLINDER jog operation
The jog movement based on work coordinates system
+Xw
-Yw
-Zw
WORK coordinate system
* While maintaining the flange surface posture, the axis moves straight along the work coordinate sys-
tem.
Also, while maintaining the flange surface position, the flange surface posture changes.
* Jog operation around the work coordinate 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 coordinate system while the control point is changed.
Fig. 2-13: WORK jog operation
Vertical
Arc
Control point
Tool length
+Zw
+
+Xw'
-
-Xw
Control point
-Zw'
+Yw
+
-
Y
+
X
+Zw'
-
+
-Yw'
-Xw'
-
+
+Yw'
2 Unpacking to Installation
Z
-
X
+
Y
-
Z
Confirming the operation 2-19