YASKAWA YYR-1-06VXH25-A10 Operating And Maintenance Manual page 23

Installation
S-axis working range
For the wall-mounted type, the S-axis movable range is ±30° (the range is adjusted prior to
the shipment).
Robot installation angle 
1
S-axis operating range [°]
2
Degrees or less
3
NOTICE
For the wall-, tilt-, and ceiling-mounted type, the installation angle relative to the ground
must be input by using the programming pendant. For the input procedures, refer to
"YRC1000 INSTRUCTIONS chapter ARM Control (E1102000214XX01* and higher)". Also,
the operating range of S-axis must be altered by referring to chapter "Alterable Operating
Range".
Precaution against falling
In case of suspended mounting, take measures to prevent the robot from falling down.
NOTICE
If the setup is changed, please contact the local YASKAWA branch office.
Fastening the robot base
With suspended mounting, the robot must be fastened with 4 screws M16 (strength class
12.9) . Use a torque of 206 Nm in tightening the screws.
Installation angle of the S-axis operating range
S-axis operating range
Robot installation
( deg)
angle (deg.)
0 30 180 degrees or less (No limit)
30 <
35
60 degrees or less
35 <
30 degrees or less
-
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