YASKAWA MOTOMAN DX100 - Upper;Lower Arm; S-Axis Angle

4 Interface with an Easy Offline Teaching System
DX100 4.4 Manipulator Type
4-28
156191-1CD
HW0482494
4.4.5 Upper/Lower Arm (Type Comprised of an L-axis and U-axis
Specify the type comprised of the L-axis and the U-axis when the L-axis
and the U-axis are viewed from the right side.
4.4.6 S-axis Angle
Specify whether the S-axis angle is within ±180° or exceeds ±180°.
Note : θs is the angle when the S-axis zero-point position is assumed to
be at 0°.
This specification is required for the manipulators of which S-axis
operating range is greater than ±180°.
Upper arm Lower arm
Right Side
S<180° S>=180°
-180°<θs<=180°
180°<θS, θS<=-180°
0
-180 180
0
-360
360
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