2.10.1. JOG Operation Key
2.10.1. JOG Operation Key
Following table represents direction that Robot actually moves in axis coordinate system, Robot coordinate system, user coordinate system and tool coordinate system when pressing the [axis operation] key of teach pendant.
You can understand the robot’s operation pattern in every coordinate system based on following table.
Table 2‑3 Operation pattern of Robot in every coordinate system
Operation
Operation Key | [Coordinate system] | |||
Axis-Coord | Robot (Robot-Coord) | Robot (User-Coord) | Tool-Coord | |
X- | S [-] | Xr (-) | Xu (-) | Xt (-) |
X+ | S [+] | Xr (+) | Xu (+) | Xt (+) |
Y- | H [-] | Yr (-) | Yu (-) | Yt (-) |
Y+ | H [+] | Yr (+) | Yu (+) | Yt (+) |
Z- | V [-] | Zr (-) | Zu (-) | Zt (-) |
Z+ | V [+] | Zr (+) | Zu (+) | Zt (+) |
Rx- | R2 [-] | Rxr (-) | Rxu (-) | Rxt (-) |
Rx+ | R2 [+] | Rxr (+) | Rxu (+) | Rxt (+) |
Ry- | B [-] | Ryr (-) | Ryu (-) | Ryt (-) |
Ry+ | B [+] | Ryr (+) | Ryu (+) | Ryt (+) |
Rz- | R1 [-] | Rzr (-) | Rzu (-) | Rzt (-) |
Rz+ | R1 [+] | Rzr (+) | Rzu (+) | Rzt (+) |