Geometries with orientation support
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 159
Maximum Negative Joint Limit Condition
R = absolute value of (Rb - Re)
Maximum J6 joint limit condition
The J6 axis is the rotational axis that could have multiple turns. The maximum
number of turns supported is +/-127. Maximum positive and negative range is
checked based on number of turns supported on J6.
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