Okura Yusoki A Series Manual page 152

10.11.3.2. Soft limit of T-axis
T-axis can spin as follows.
Blue line;
T-axis spinning
AT(+) side.
T-axis soft
limit
Ex. T-axis can spin between -220 and 220 degrees at maximum.
T-axis never ever spins beyond the soft limits which are adjustable.
As the robot controlling basic logic, T-axis spins taking short cut direction. If it moves
to -179 of target position from 179 of current position, it spins to 181. Refer to the
robot manual "Installation and Adjustment".
-220
10-12
Purple line;
T-axis origin point
Red line;
T-axis
spinning
T-axis soft
limit
+220