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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