YASKAWA DX100 Operator's Manual page 152

DX100
3 Teaching
3.9 Other Job-editing Functions
The diagram below shows the S-axis at 0° and at 180°. This is the
configuration when the L-axis and the U-axis are viewed from the right-
hand side.
°
S-axis 0
Back
For the manipulator with seven axes, this specifies where in the S-axis
rotation center the U-axis rotation center locates when viewing the L-axis
and U-axis from the right-hand side.
When viewed from the right-hand side, the right of the S-axis rotation
center is called the front, and the left is called the back.
Back
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3-85
S-axis 180
Front
Front
Front
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°
Back