YASKAWA NX100 - Page 143

3 Teaching
3.9 Other Job-editing Functions
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• Upper Arm/Lower Arm
This specifies a type comprised of L-axis and U-axis when the L-axis and U-axis are
viewed from the right-hand side.
• S-axis Angle
This designation is required for the manipulators which have working envelopes greater
than ±180°.
This specifies whether the S-axis angle is less than ±180° or greater than ±180°.
Upper Arm Lower Arm
S<180
° S ≥ 180°
-180° < θ S ≤ 180°
180° < θ S ≤ 360°
-360° < θ S ≤ -180°
θ S is the angle when the S-axis home position is 0°.
Right-hand side
0°
-180° 180°
0°
-360°
360°
NOTE
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