Upper Arm/Lower Arm; S-Axis Angle - YASKAWA DX100 Operator's Manual

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

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3.9.9 Upper Arm/Lower Arm

3.9 Other Job-editing Functions

This specifies a type comprised of L-axis and U-axis when the L-axis and

U-axis are viewed from the right-hand side.

This designation is required for the manipulators which have working

envelopes greater than ±180. 

This specifies whether the S-axis angle is less than ±180 or greater than

< S  180

S is the angle when the S-axis home position is 0

Right-hand side

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