YASKAWA DX100 Operator's Manual page 175

For material handling, press tending, cutting, and other applications

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3.9 Other Job-editing Functions

The diagram below shows the S-axis at 0and at 180. This is the

configuration when the L-axis and the U-axis are viewed from the right-

For the manipulator with seven axes, this specifies where in the S-axis

rotation center the U-axis rotation center locates when viewing the L-axis

and U-axis from the right-hand side.

When viewed from the right-hand side, the right of the S-axis rotation

center is called the front, and the left is called the back.

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