YASKAWA MOTOMAN-SDA20, Instructions Manual, Page: 27 / 66

5-2
155492-1CD
HW0484820
SDA20
5 Basic Specifications
5.2 Part Names and Working Axes
5.2
Part Names and Working Axes
Fig. 5-1: Part Names and Working Axes
A
View A
Z+
Y+
X+
R+
B+
R
T+
U+
7th+
L+
R+
B+
T+
U+
7th+
L+
S+
S+
R-axis
B-axis T-axis
U-axis
7th-axis
S-axis S-axis
R2
R1
R,T+
7th+ 7th+
R,T+
R
R2 R1
Reference coordinate
of base/robot axes
Reference coordinate
of robot axis
Reference coordinate
of robot axis
Reference coordinate
of base axis
Reference coordinate
of base axis
(S1: Axis Station 1)
Rotation-axis
150
150
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