YASKAWA JZRCR-APP30-1 - Page 152

4 Teaching
4.6 User Variables
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HW1485509
HW1485509
 T-Axis Angle
This specifies positions of the R-, B- and T-axis.
For manipulators with wrist axes (three axes), this specifies whether the
T-axis angle is less than ±180° or greater than ±180°.
Note that θT is the angle when the T-axis home position is 0°.
T <180
 T  180
-180 < T  180
180 < T or T  -180
0˚
-180˚
180˚
0˚
-360˚
360˚
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