6th-Axis Figure

A 6th-axis figure is defined by the value of the 6th-axis component.

The robot can take two different 6th-axis figures--SINGLE and DOUBLE. If the 6th axis rotates by -180°<θ6≤180° in mechanical interface coordinates, the figure is SINGLE; if it rotates by 180°<θ6≤360°, the figure is DOUBLE.

The robot takes quite different figures when θ6 is 180° or 181°. Take special care when changing any position data for the 6th-axis figure. For example, supposing that you want to change the 6th-axis figure at θ6=181°, the robot will take the 6th-axis figure at θ6=-179° if you make no figure modification.