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Since Xenogears was released very shortly after the Dual Shock controller, there are no analog stick or button (R3/L3) controls.

Button Field Battle
Neutral dpad
Move characters/cursor (in menu)
Move cursor
Neutral dpad + Circle button
Run
-
Cross button
Confirm
Strong Attack
Circle button
Cancel
Confirm/End Battle Turn
Triangle button
Jump
Weak Attack
Square button
Open Menu
Medium Attack
R1 button
Rotate Camera (right)/Choose Character (in menu)
-
L1 button
Rotate Camera (left)/Choose Character (in menu)
-
L2 button + R2 button
Get on/off Gears (all)
-
Select button
Toggle World Map
-
Start button
Pause/Continue
Pause/Continue