Appendix-688 Ex-T control
7Appendix
(6) WORK jog operation of the RH 4-axis hanging type
When the XYZ keys are used, the operation is the same in the WORK jog and the Ex-T jog modes.
• 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.
＋X
－X
＋Z
＋Y
－Z
－Y
ツール長
＋Z
－Z
＋Zw
－Zw
－Xw
＋Xw
＋Yw
－Yw
Control point
Work coordinates system
* The direction of the end axis will not
change. Move the control point with
a straight line in accordance with
the work coordinates system
The jog movement based on work coordinates system
Tool length
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