Epson ES Series Manipulator Manual page 55

Part 1: Setup & Operation 8. Motion Range and Robot Coordinates
The 0 pulse position of Joint #4 is the position at which the flat cut surface of the Joint #4
shaft faces the positive direction of the X-coordinate axis when Joint #1 and #2 are parallel
to the X-coordinate axis. The pulse value is positive (+) in the counterclockwise direction
from the 0 pulse position and negative (-) in the clockwise direction.
+Y
+Direction
+X 0 pulse ±65536 pulse
-Direction
Figure 26. Pulse range of Joint #4
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