R-Axis Angle; T-Axis Angle - YASKAWA MOTOMAN-DX100 Instructions Manual

156191-1CD
DX100

4.4.2 R-axis Angle

4.4.3 T-axis Angle

4 Interface with an Easy Offline Teaching System
4.4 Manipulator Type
Specify whether the R-axis angle is within ±180° or exceeds ±180°.
°
R<180
0
-180 180
° °
-180 <θR<=180
Note :θR is the angle when the R-axis zero-point position is assumed to
be at 0°.
Specify whether the T-axis angle is within ±180° or exceeds ±180°.
°
T<180
0
-180 180
° °
-180 <θT<=180
Note :θT is the angle when the T-axis zero-point position is assumed to be
at 0°.
4-25
°
R>=180
0
360 -360
° °
<θR, θR<=-180
180
°
T>=180
0
360 -360
° °
<θT, θT<=-180
180
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