Toshiba TH850A Instruction Manual page 24

(–)
XB
Axis 4
(+)
Axis 2
Fig. 3.2 Base coordinate system and joint angle origin (TH1050A)
DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
(–)
Axis 1
(+)
(+)
Axis 3
(–)
– 24 –
Reference
Reference
surface
surface
(–)
(+)
YB
ZB
Origin of base
coordinate system
when Z-axis stroke
is 170 mm
Origin of base
coordinate system
when Z-axis stroke
is 340 mm
STE 80765