YASKAWA MOTOMAN YRC1000 - Page 64

Test of program operation
7 - 64
Rotates main body Rotates upper arm
Moves lower arm forward / backward Moves wrist up / down
Moves upper arm up / down Rotates wrist
Rotates lower arm
S-
X-
S+
X+
L-
Y-
L+
Y+
U-
Z-
U+
Z+
E- E+
R-
X-
R+
X+
B-
Y-
B+
Y+
T-
Z-
T+
Z+
8- 8+
8
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B
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+
T
+
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R
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Y
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B
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Z
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T
-
X
+
S
+
Y
+
L
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Z
+
U
+
X
-
S
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Y
-
L
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Z
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U
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E
+
E
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X
+
S
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X
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S
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Y
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L
+
Y
-
L
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Z
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U
+
Z
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U
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+
R
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X
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R
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Y
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B
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Y
+
B
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Z
+
T
+
Z
-
T
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S
L
U
R
B
T
E
S-
X-
S+
X+
L+
Y+
U-
Z-
U+
Z+
E-
E+
L-
Y-
R-
X-
R+
X+
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T-
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