STE 58764
－ －
2-13
Fig. 2.14 SR-854HSP base coordinate system and joint angle zero point
105
550300
210
Y
B
Reference plane
Reference plane
X
B
(-)
(-)
(-)
(+)
(+)
(+)
Axis 1
Axis 2
Axis 4
0° 0°
0°
110
View A
Z
B
(+)
0mm
◎
Origin of base
coordinate system
View A
X
B
Axis 3
