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Radius
半径
* 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.2-18 ： CYLINDER jog operation
＋
+Xw'
－
Control point
-Zw'
-Yw
+Xw
-Zw
WORK coordinate system
* While maintaining the flange surface posture, the axis moves straight along the work coordinate system.
Also, while maintaining the flange surface position, the flange surface posture changes.
* Jog operation around the work coordinates system is available for the 6-axis type (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.2-19 ： WORK jog operation
Vertical
上下
Arc
円弧
Control point
制御点
－Ｙ
＋X
5-axis type/6-axis type
+Zw'
－
＋
-Yw'
-Xw'
－
＋
+Zw
+Yw'
-Xw
6-axis type
+Yw
＋Z
－Ｘ
＋Y
－Z
Control point
+Xw
-Yw
-Zw
WORK coordinate system
2 Unpacking to Installation
＋Z
－
＋
+Y
＋
－
+Z
+Zw
-Xw
－Ｙ
+Yw
＋X
－Z
5-axis type
Confirming the operation 2-29
－Ｘ
＋Y
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