Hyundai HI4 operation manual Coordinate system, JOG operation key

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.

Action

Jog Key

Left(S+)

Right(S-)

Front(H-)

Back후(H+)

Up(V+)

Down(V-)

Rx+(R2+)

Rx-(R2-)

Ry+(B+)

Ry-(B-)

Rz+(R1+)

Rz-(R1-)

[Coordinate System]

Axis coord.		Robot		Robot		Tool	coord
		(Robt	coord.)	(User	coord.)
S [Left]		Xr	(-)	Xu	(-)	Xt (-)
S [Right]		Xr	(+)	Xu	(+)	Xt (+)
H [Front]		Yr	(+)	Yu	(+)	Yt (+)
H [Back]		Yr	(-)	Yu	(-)	Yt (-)
V [Up]		Zr	(+)	Zu	(+)	Zt (+)
V [Down]		Zr	(-)	Zu	(-)	Zt (-)
R2	[+]	Rxr (+)		Rxu (+)		Rxt	(+)
R2	[-]	Rxr (-)		Rxu (-)		Rxt	(-)
B [+]		Ryr (+)		Ryu (+)		Ryt	(+)
B [-]		Ryr (-)		Ryu (-)		Ryt	(-)
R1	[+]	Rzr (+)		Rzu (+)		Rzt	(+)
R1	[-]	Rzr (-)		Rzu (-)		Rzt	(-)

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