Number of Available Encoders and the Joint Number

The number of available encoders and the joint number differ depending on the robot combination.

This section describes the number of encoders and joint number in the following subsections.

• HSR and HSA1 Combination
• Other Combinations

HSR and HSA1 Combination

For example, if the combination of two robots is one of the following, from the 5th to the 8th joints (4 joints in total) can be used as encoders.

• Two HSR robots
• Two HSA1 robots
• HSR and HSA1 combination

Other Combinations

For other combinations, you can use an unused joint as an encoder.

For example, in the following case, the 7th and the 8th joints can be used as encoders.