2 Manipulator Coordinate Systems and Operations2.3 Coordinate Systems and Axis Operation2-5155223-1CDRE-CSO-A0362.3 Coordinate Systems and Axis Operation2.3.1 Joint CoordinatesWhen operating in joint coordinates mode, the S, L, U, R, B, and T-axes of the manipulator moveindependently. The motion of each axis is described in the table below.Axis Motion in Joint CoordinatesAxis Name Axis Operation Key MotionMajorAxesS-axis Main unit rotates right and left.L-axis Lower arm moves forward and backward.U-axis Upper arm moves up and down.WristAxesR-axis Wrist rolls right and left.B-axis Wrist moves up and down.T-axis Wrist turns right and left.• When two or more axis keys are pressed at the same time, the manipulator will perform acompound movement. However, if two different directional keys for the same axis arepressed at the same time (such as [S-] + [S+]), none of the axes operate.• When using a manipulator of 7 axes or 8 axes, the C-axis (7th axis) is moved by pressing[SHIFT] + [S-] or [SHIFT] + [S+]; the W-axis (8th axis) by pressing [SHIFT] + [L-] or[SHIFT] + [L+].X-S- X+S+Y-L- Y+L+Z-U- Z+U+X-R- X+R+Y-B- Y+B+Z-T- Z+T+SUPPLE-MENTU-axisR-axisB-axisT-axisL-axisS-axisY-L-Y+L+X-S- X+S+Z-U-Z+U+Y-B-Y+B+X-R-X+R+Z-T-Z+T+53 of 435
