STE 58764
- -
2-12
Fig. 2.13 SR-654HSP base coordinate system and joint angle zero point
105
300
210
350
100
◎
Origin of base
coordinate system
(+)
0mm
View A
Reference plane
(-)
(-)
(-)
(+)
(+)
(+)
Axis 4
Axis 2
Axis 1
0°
0°0°
View A
X
B
X
B
Y
B
Z
B
Reference plane
Axis 3