Nachi RMU20-20 Instruction Manual page 91

(Reference) Robot coordinate system (Machine coordinate system)
(Reference) Start point and end point for an arm (example)
Please set the parameters based on the robot coordinate system origin. And, in this case, the robot posture
should be the "Machine reference posture" in which the all axes are set to the reference position.
Radius X Y
(x,y,z) = (1200, 0, 2030)
(x,y,z) = (550, 0, 2030)
A cylinder like this is defined.
(Radius 150mm, length 650mm)
+X
Z X Y
+X
+Z
Robot coordinate
system origin
Z axis
+Z
Robot coordinate
system origin
3.2Operation procedure
+Y
3-21