Upper/Lower Arm; S-Axis Angle - YASKAWA MOTOMAN-DX100 Instructions Manual

DX100
4.4.5 Upper/Lower Arm (Type Comprised of an L-axis and U-axis

4.4.6 S-axis Angle

4 Interface with an Easy Offline Teaching System
4.4 Manipulator Type
Specify the type comprised of the L-axis and the U-axis when the L-axis
and the U-axis are viewed from the right side.
Upper arm
Specify whether the S-axis angle is within ±180° or exceeds ±180°.
°
S<180
0
-180 180
° °
-180 <θs<=180
Note : θs is the angle when the S-axis zero-point position is assumed to
be at 0°.
This specification is required for the manipulators of which S-axis
operating range is greater than ±180°.
4-28
Right Side
Lower arm
°
S>=180
0
360 -360
° °
<θS, θS<=-180
180
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