Yamaha YK-XR Series Installation Manual page 43

Before using the robot (Be sure to read the following notes.)
At this time, our thanks for your purchase of this YAMAHA YK-XR series SCARA robot.
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NOTE
In the RCX340 controller, axis names are called using numeric values, like axis-1, axis-2, axis-3, and so on. In this
manual, axis names are called using alphabetic characters, like X-axis, Y-axis, Z-axis, and so on. So, read this
manual while referring to the robot external view and axis name correspondence table shown below.
External view of robot and axis name correspondence table
(-)
Z-axis
(-)
(axis -3)
(+)
R-axis
(axis -4)
RCX340 controller axis name
Axis 1
Axis 2
Axis 3
Axis 4
(+)
(-)
Y-axis Y-axis
(axis -2) (axis -2)
(+)
Y-axis arm
(arm -2)
Axis name in this manual
X-axis
Y-axis
Z-axis
R-axis
X-axis arm
(arm -1)
(-)
(+)
X-axis
(axis -1)
23002-FK-00
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