Specifications

22-12
(4) SINGLE/DOUBLE (6th-axis figure)
If the rotation angle (θ6) of the 6th axis is within the range of -180°<θ6≤180° around
the Z axis in mechanical interface coordinates, the figure is SINGLE; if it is within the
range of 180°<θ
6≤360° or -360°<θ6≤-180°, the figure is DOUBLE. Boundaries exist
at -180° and +180°.
Figure 13. Boundary between SINGLE and DOUBLE
DOUBLE
SINGLE
Boundar
y
DOUBLE
Boundar
y
φ
5H7