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2. Basic operation
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2.3 Coordinate system
2.3.1 JOG operation key
The following chart shows that the robot's moving direction in accordance with operation of
JOG key for each Axis coordinate, Robot coordinate, User coordinate and Tool coordinate. It
need to understand robot's movement according to coordinate system.
[Coordinate System]
Action
Jog Key
Axis coord.
Robot
(Robt coord.)
Robot
(User coord.)
Tool coord
Left(S+) S [Left] Xr (-) Xu (-) Xt (-)
Right(S-) S [Right] Xr (+) Xu (+) Xt (+)
Front(H-) H [Front] Yr (+) Yu (+) Yt (+)
Back후(H+) H [Back] Yr (-) Yu (-) Yt (-)
Up(V+) V [Up] Zr (+) Zu (+) Zt (+)
Down(V-) V [Down] Zr (-) Zu (-) Zt (-)
Rx+(R2+) R2 [+] Rxr (+) Rxu (+) Rxt (+)
Rx-(R2-) R2 [-] Rxr (-) Rxu (-) Rxt (-)
Ry+(B+) B [+] Ryr (+) Ryu (+) Ryt (+)
Ry-(B-) B [-] Ryr (-) Ryu (-) Ryt (-)
Rz+(R1+) R1 [+] Rzr (+) Rzu (+) Rzt (+)
Rz-(R1-) R1 [-] Rzr (-) Rzu (-) Rzt (-)