Mitsubishi Electric RH-1FHR Series Instruction Manual page 59

When the software version is R5 (F-Q series)/S5 (F-D series) or later, the additional WORK jog operation,
Ex-T jog, is available. The conventional WORK jog operation and the Ex-T jog operation can be switched by
setting the parameters WK1JOGMD to WK8JOGMD of each work coordinates system.
The respective operations are as follows.
WORK jog operation mode
Parameters WKnJOGMD (n is 1 to8) set-
ting
XYZ key operation
C key operation
AB key operation
The jog movement based on work coordinates system
Work coordinates system
+Xw
-Zw
・ When the [+X (J1)] keys are pressed, the robot will move along the X axis (Xw) plus direction on the work
coordinates system.
When the [-X (J1)] keys are pressed, Move along the minus direction.
・ When the [+Y (J2)] keys are pressed, the robot will move along the Y axis (Yw) plus direction on the work
coordinates system.
When the [-Y (J2)] keys are pressed, Move along the minus direction.
・ When the [+Z (J3)] keys are pressed, the robot will move along the Z axis (Zw) plus direction on the work
coordinates system.
When the [-Z (J3)] keys are pressed, Move along the minus direction.
When the X, Y, or Z keys are used, the operation is the same in the WORK jog and the Ex-T jog modes.
Conventional WORK jog
0 (initial value)
Moves along each axis of the work coordi-
nates system
With the control point position maintained,
the direction changes along the work coor-
dinates system.
The robot does not move.
+Zw
-Yw
-Xw
+Yw
＋Z
－Y
＋X
－Z
Tool length
ツール長
* The direction of the end axis will not
Control point
2 Unpacking to Installation
Ex-T jog
1
Same as the conventional WORK jog
While the control point position is
changed, the direction changes on the Z
axis of the work coordinates system (Zw).
The robot does not move.
－X
＋Y
change. Move the control point
with a straight line in accordance
with the work coordinates system
Confirming the operation 2-48