Industrial robots come in a variety of axis configurations. However, the vast majority of articulated robots have six axes, also known as six degrees of freedom. Six-axis robots have more flexibility than robots with fewer axes and can perform more applications.
Axis 1
The axis sits on the base of the robot and allows the robot to rotate from left to right. This cleaning action expands the work area to include the sides of the arms and the rear. This axis allows the robot to rotate from a center point to a full 180-degree scale. This axis is also known as Motoman:S and Fanuc:J1.
Axis 2
This axis causes the robot's lower arm to extend forward and backward. It is the axis that drives the movement of the entire lower arm. This axis is also known as Motoman:L and Fanuc:J2.
Axis 3
The axis extends the straight scale of the robot. It allows the upper arm to be raised and lowered. On some articulated models, it allows the upper arm to reach behind the body, which then further expands the size of the job. This shaft gives the upper arm better access to the part. This axis is also known as Motoman:U and Fanuc:J3.
Axis 4
This shaft works in tandem with shaft 5 and helps in the positioning of the end actuator and the operation of the part. It is known as the wrist chakra, and it rotates the upper arm in a circular motion and then moves the part from horizontal to straight directions. This axis is also known as Motoman:R and Fanuc:J4.
Axis 5
This axis allows the wrist of the robot arm to be tilted up and down. This axis serves as pitch and yaw movements. The pitch or zigzag action is moving up and down, much like opening and closing the lid of a box. The yaw moves from side to side, like a door on a hinge. This axis is also known as Motoman:B and Fanuc:J5.
Axis 6
This is the wrist of the robot arm. It acts as a torsional motion that allows it to rotate freely in a circular motion, and then positions the end actuator and operates the part. It can usually be rotated more than 360 degrees in a clockwise or counterclockwise direction.
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E1041
Limit switch action. Axis XX
E1042
The limit switch signal line is disconnected.
E1043
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E1044
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E1045
(spot welding) welding and fixture mismatch.
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(1) Subject
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