YASKAWA YRC1000 - Page 151

4 Teaching
4.6 User Variables
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HW1485509
HW1485509
 S-Axis Angle
This designation is required for manipulators that have working envelopes
greater than ±180°.
This specifies whether the S-axis angle is less than ±180° or greater than
±180°.
Note that θS is the angle when the S-axis home position is 0°.
 R-Axis Angle
This specifies whether the R-axis angle is less than ±180° or greater than
±180°.
Note that θR is the angle when the R-axis home position is 0°.
S<180
 S  180
-180 < S  180
180 < S or S  -180
0°
-180° 180°
0°
-360°
360°
R < 180 R  180
-180 < R  180
180 < R or R  -180
0˚
-180˚
180˚
0˚
-360˚
360˚
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