Home Position Of The Robot - YASKAWA Motoman UP6 Instructions Manual

3.1.3

Home Position of the Robot

In case of UP6, the home position are as follows.
U-axis angle against horizontal
line on the ground(0 )
Other manipulator models have different positions. Always consult the documentation for
N OT E
the correct manipulator model.
L-axis angle against vertical
line to the ground(0 )
3-7
3.1 Home Position Calibration
B-axis center line angle against
U-axis center line(-90 )