Frames & joint limits
Excerpted from the supplied English User Manual v1.4. Chinese editorial corrections and later confirmations may not be synchronized. Check the Chinese reference where the two differ.
Configuration: dual-arm details apply only to dual-arm/mobile dual-arm robots. Older instructions differ in power timing, light names and homing motion; check the operational guidance and version notes on this page.
1.5 Coordinate Frames and Joint Limits
Dual-Arms Configuration
When all joints are at zero degrees, their joint coordinate frames are shown below. Red indicates the x-axis, green indicates the y-axis, and blue indicates the z-axis.
Joint numbers and limits are shown below.
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Sole/Wheeled Configuration
When all joints are at zero degrees, their joint coordinate frames are shown below. Red indicates the x-axis, green indicates the y-axis, and blue indicates the z-axis.
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Dual-arm configuration details · 1.5 Coordinate Frames and Joint Limits
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When all joints of the Dual-Arm Robot are at zero degrees, their coordinate frames are as shown below. Red indicates the x-axis, green indicates the y-axis, and blue indicates the z-axis.
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The joint numbers and limits are shown below:
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