Allen-Bradley 1756-HYD02 User Manual page 191

Geometries with orientation support
Maximum J1, J2, J3 Positive joint limit condition
The derivations for the maximum positive joint apply to the condition when L1
and L2 are collinear.
Maximum J1, J2, J3 negative joint limit condition
The derivations for the maximum negative joint limit apply to the condition when
L1 and L2 are folded back on top of each other.
R is computed by using the base and end-effector offsets values (Rb and Re).
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Maximum Positive Joint Limit Position
R = absolute value of (Rb - Re)
Maximum Negative Joint Limit Condition
R = absolute value of (Rb - Re)
Chapter 4
191