Motoman XRC 2001, Operator'S Manual

Page: 253 / 387

5.3 Other Editing
5-44
•
R-Axis Angle
This specifies whether the R-axis angle is less than ±180× or greater than ±180×.
This configuration is required for SK, K, SV and S model robots.
•
T-Axis Angle
The T-axis is specified for manipulators which have three wrist axes. T-Axis Angle speci-
fies whether the T-axis angle is less than ±180× or greater than ±180×.
R < 180
°
R >= 180
°
-180 <
θ
R <= 180 -180 <
θ
R < 180,-360 <=
θ
R <180
θ
R is the angle when the R-axis home position is 0
°.
T <180
°
T >= 180
°
-180 <
θ
T <=180 180 <
θ
T < 180,-360 <=
θ
T < -180
θ
T is the angle when the T-axis home position is 0
°.
N OT E
N OT E