4th-Axis Figure

The 4th-axis figure is defined by the value of the 4th-axis component.

The robot can take two different 4th-axis figures--SINGLE 4 and DOUBLE 4. If the 4th axis rotates by -180°<θ4≤180° in mechanical interface coordinates, the figure is SINGLE 4; if it rotates by 180°<θ≤185° or -185°<θ≤-180°, the figure is DOUBLE 4.

The robot takes quite different figures when θ4 is 180° or 181°. Take special care when changing any position data for the 4th-axis figure. For example, supposing that you want to change the 4th-axis figure at θ4=181°, the robot will take the 4th-axis figure at θ4=-179° if you make no figure modification.