YASKAWA DX100 Maintenance Manual page 79

DX100
6.1.3 Manipulator Home Position
6 Operations After Replacing Parts
6.1 Home Position Calibration
With the MOTOMAN-VA1400, the home position is as follows.
U-axis angle against horizontal
line on the ground (-0°)
Other manipulator models have different positions. Always
NOTE
consult the documentation for the correct manipulator
model.
6-9
B-axis center line angle against
U-axis center line (-0°)
L-axis angle against vertical
line to the ground (-0°)