Used Robots.com: Motoman XRC Basic Programming

Created: 99-02-03   Revised: 99-06-17 Operato r’s manual MOTOMAN XRC Page: 31 Joint coordinates MOTOMAN ROBOTICS EUROPE 2.3 Joint coordinates When operating in joint coordinates mode, the S, L, U, R, B, and T axes of the
manipulator move independentl    y. The motion of each axis is described in the
table belo w. Note! When two or more axis keys are pressed at the same time, the manipulator will
perform compound movement. Howeve                                                                                      r, if two different directional keys for the
same axis are pressed at the same time (such as [S-] + [S+]), none of the axes
operate. Axis Motion in Joint Coordinates Axis name        Axis
operation key Motion Basic
Axes S-Axis Main unit rotates right and
left. L-Axis Lower arm moves forward
and backward. U-Axis Upper arm moves up and
down. Wrist
Axes R-Axis Wrist rolls right and left. B-Axis Wrist moves up and down T-Axis Wrist turns right and left S- S+ X- X+ L- L+ Y- Y+ U- U+ Z- Z+ R- R+ X X B- B+ Y Y T- T+ Z Z


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