YASKAWA MOTOMAN YRC1000 - 9.1.5 Home position posture of robot

System Setup
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9.1.5 Home position posture of robot
NOTICE
The home position posture of each robot differs depending on its model. Refer to the
INSTRUCTIONS for the robot corresponding to its model.
The home position posture of a commonly used 6-axis vertically-articulated robot is shown
below.
Angle of the U-axis with respect to the horizontal line of the ground (-0°)
Angle of the B-axis center line with respect to the U-axis center line (-0°)
Angle of the L-axis with respect to the vertical line to the ground (-0°)
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